On the Design of Hybrid Pose and Velocity-bias Observers on Lie Group SE(3)

Abstract

This paper deals with the design of globally exponentially stable invariant observers on the Special Euclidian group SE(3). First, we propose a generic hybrid observer scheme (depending on a generic potential function) evolving on $SE(3)\times {\mathbb{R}}^6$ for pose (orientation and position) and velocity-bias estimation. Thereafter, the proposed observer is formulated explicitly in terms of inertial vectors and landmark measurements. Interestingly, the proposed observer leads to a decoupled rotational error dynamics from the translational dynamics, which is an interesting feature in practical applications with noisy measurements and disturbances.

29 pages, 3 figures

References in corpus (1)

• Observers for invariant systems on Lie groups with biased input measurements and homogeneous outputs

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