Position, Velocity, Attitude and Accelerometer-Bias Estimation from IMU and Bearing Measurements

Simone de Marco (1) , Minh-Duc Hua (1, 2) , Tarek Hamel (1, 3) , Claude Samson (4)

1 I3S - Laboratoire d'Informatique, Signaux, et Systèmes de Sophia Antipolis
2 CNRS - Centre National de la Recherche Scientifique
3 IUF - Institut universitaire de France
4 CRISAM - Inria Sophia Antipolis - Méditerranée

This paper considers the problem of estimating the position, attitude and velocity of a rigid-body in a 3D space by fusing bearing measurements provided by a monocular camera with gyroscopic and accelerometer measurements provided by an Inertial Measurement Unit (IMU). The proposed deterministic observer is accompanied with an observability analysis, that points out the minimum number of image points (bearings) along with their configuration in the inertial frame, under which local exponential stability is guaranteed. The performance of the observer is demonstrated by performing experiments on a test-bed inertial-Visual sensor.

Domaines: Automatique; Robotique [cs.RO]; Systèmes dynamiques [math.DS]

Simone de Marco, Minh-Duc Hua, Tarek Hamel, Claude Samson. Position, Velocity, Attitude and Accelerometer-Bias Estimation from IMU and Bearing Measurements. ECC 2020 - European Control Conference, Mar 2020, Saint Petersburg, Russia. ⟨10.23919/ECC51009.2020.9143918⟩. ⟨hal-03052517⟩