Journal ArticleDOI
Single range aided navigation and source localization: Observability and filter design
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TLDR
A nonlinear system, which given the input and output of the system is regarded as linear time-varying, is proposed and a Kalman filter is applied to successfully estimate the system state.Citations
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Journal ArticleDOI
Variable Gain Super-Twisting Sliding Mode Control
TL;DR: A novel, Lyapunov-based, variable-gain super-twisting algorithm (STA) is proposed that ensures for linear time invariant systems the global, finite-time convergence to the desired sliding surface when the matched perturbations/uncertainties are Lipschitz-continuous functions of time.
Journal ArticleDOI
Ultra-wideband based cooperative relative localization algorithm and experiments for multiple unmanned aerial vehicles in GPS denied environments:
TL;DR: An indirect cooperative relative localization method to estimate the position of unmanned aerial vehicles (UAVs) relative to their neighbors based solely on distance and self-displacement measurements in GPS denied environments is put forward.
Journal ArticleDOI
Range-Based Underwater Vehicle Localization in the Presence of Unknown Ocean Currents: Theory and Experiments
TL;DR: This paper addresses the problem of range-based autonomous underwater vehicle (AUV) localization in the presence of unknown ocean currents by deriving conditions under which it is possible to reconstruct the initial condition of the system under study and proposing a novel observer for simultaneous AUV and beacon localization.
Journal ArticleDOI
An unscented Kalman filter based navigation algorithm for autonomous underwater vehicles
Benedetto Allotta,Benedetto Allotta,Andrea Caiti,Andrea Caiti,Luigi Chisci,Riccardo Costanzi,Riccardo Costanzi,F. Di Corato,Claudio Fantacci,Davide Fenucci,Davide Fenucci,Enrico Meli,Enrico Meli,Alessandro Ridolfi,Alessandro Ridolfi +14 more
TL;DR: In this article, the authors present a comparison between the Extended Kalman Filter (EKF) approach, classically used in the field of underwater robotics and an unscented Kalman filter (UKF), adapted to the AUV case, demonstrates to be a good trade-off between estimation accuracy and computational load.
Journal ArticleDOI
Sensor-Based Globally Asymptotically Stable Filters for Attitude Estimation: Analysis, Design, and Performance Evaluation
TL;DR: This technical note presents the design, analysis, and performance evaluation of a novel globally asymptotically stable (GAS) filter for attitude estimation that is sensor-driven and departs from traditional solutions as no explicit representations of the attitude are considered.
References
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Book
Stochastic Processes and Filtering Theory
TL;DR: In this paper, a unified treatment of linear and nonlinear filtering theory for engineers is presented, with sufficient emphasis on applications to enable the reader to use the theory for engineering problems.
Journal ArticleDOI
Nonlinear controllability and observability
R. Hermann,Arthur J. Krener +1 more
TL;DR: The properties of controllability, observability, and the theory of minimal realization for linear systems are well-understood and have been very useful in analyzing such systems as discussed by the authors.
Journal ArticleDOI
Survey of nonlinear attitude estimation methods
TL;DR: A survey of modern nonlinear filtering methods for attitude estimation based on the Gaussian assumption that the probability density function is adequately specified by its mean and covariance is provided.