论文标题
惯性导航系统的观察者设计：简短教程
Observers Design for Inertial Navigation Systems: A Brief Tutorial
论文作者
论文摘要
能够同时估算三维空间中车辆的位置，线性速度和方向的导航观察者的设计在许多机器人和航空航天应用中至关重要。这个问题主要涉及使用扩展的卡尔曼过滤器及其变体，这些滤镜在许多实际应用中都具有重要作用。尽管实际上有效，但这些算法缺乏强大的稳定性保证却促使出现了一类新的几何导航观察者，这些几何导航观察者依靠依靠Riemannian几何形状工具，从而导致了可证明的强稳定性属性。本简介教程的目的是概述现有的估计方案以及一些最近开发的几何非线性观察者，以依靠依赖惯性测量单元（IMU）和地标测量值的自主导航系统。
The design of navigation observers able to simultaneously estimate the position, linear velocity and orientation of a vehicle in a three-dimensional space is crucial in many robotics and aerospace applications. This problem was mainly dealt with using the extended Kalman filter and its variants which proved to be instrumental in many practical applications. Although practically efficient, the lack of strong stability guarantees of these algorithms motivated the emergence of a new class of geometric navigation observers relying on Riemannian geometry tools, leading to provable strong stability properties. The objective of this brief tutorial is to provide an overview of the existing estimation schemes, as well as some recently developed geometric nonlinear observers, for autonomous navigation systems relying on inertial measurement unit (IMU) and landmark measurements.
