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A globally exponentially stable filter for bearing-only simultaneous localization and mapping in 3-D
Lourenco P.1; Batista P.1,2; Oliveira P.1,2; Silvestre C.1,3
2015-11-16
Conference NameEuropean Control Conference (ECC)
Source Publication2015 European Control Conference, ECC 2015
Pages2812-2817
Conference DateJUL 15-17, 2015
Conference PlaceLinz, AUSTRIA
Abstract

This paper proposes a novel filter for sensor-based bearing-only simultaneous localization and mapping in three dimensions with globally exponentially stable (GES) error dynamics. A nonlinear system is designed, its output transformed, and its dynamics augmented so that the proposed formulation can be considered as linear time-varying for the purpose of observability analysis. This allows the establishment of observability results related to the original nonlinear system that naturally lead to the design of a Kalman filter with GES error dynamics. The performance of the proposed algorithm is assessed resorting to a set of realistic simulations.

DOI10.1109/ECC.2015.7330964
URLView the original
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems
WOS SubjectAutomation & Control Systems
WOS IDWOS:000380485400448
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Cited Times [WOS]:0   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.nst Syst & Robot, Lab Robot & Syst Engn & Practice, Lisbon, Portugal.
2.Univ Lisbon
3.Univ Macau
Recommended Citation
GB/T 7714
Lourenco P.,Batista P.,Oliveira P.,et al. A globally exponentially stable filter for bearing-only simultaneous localization and mapping in 3-D[C],2015:2812-2817.
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