同步观测器设计用于地标-惯性SLAM的磁力计和间歇GNSS测量
Synchronous Observer Design for Landmark-Inertial SLAM with Magnetometer and Intermittent GNSS Measurements
- Centre for Systems and Control, Indian Institute of Technology Bombay（印度理工学院孟买分校系统与控制中心）
- School of Aerospace, Mechanical and Mechatronic Engineering (AMME), Faculty of Engineering, University of Sydney（悉尼大学工程学院航空航天、机械与机电工程系）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
本文提出一种非线性观测器，利用磁力计和间歇GNSS测量解决LI-SLAM中状态不可观测问题，通过仿真验证了观测器的稳定性。
AI中文摘要：
在地标-惯性同时定位与建图（LI-SLAM）中，通过地标位置测量和惯性测量单元（IMU）测量估计环境中的地标位置和机器人相对于这些地标的姿态。然而，在惯性框架下，机器人和地标的位置以及机器人的偏航角在LI-SLAM中不可观测。本文提出了一种非线性观测器，通过加入间歇GNSS位置和磁力计测量克服了可观测性约束。所提观测器的全状态误差动力学被证明既近似全局渐近稳定又局部指数稳定，并通过仿真进行了验证。
英文摘要：
In Landmark-Inertial Simultaneous Localisation and Mapping (LI-SLAM), the positions of landmarks in the environment and the robot's pose relative to these landmarks are estimated using landmark position measurements, and measurements from the Inertial Measurement Unit (IMU). However, the robot and landmark positions in the inertial frame, and the yaw of the robot, are not observable in LI-SLAM. This paper proposes a nonlinear observer for LI-SLAM that overcomes the observability constraints with the addition of intermittent GNSS position and magnetometer measurements. The full-state error dynamics of the proposed observer is shown to be both almost-globally asymptotically stable and locally exponentially stable, and this is validated using simulations.
