Detection and prediction of near-term state estimation degradation via online nonlinear observability analysis

2016 ◽  
Author(s):  
Zheng Rong ◽  
Nathan Michael
Keyword(s):  
State Estimation ◽  
Observability Analysis ◽  
Near Term ◽  
Nonlinear Observability

Global Observability Analysis IMU/Camera Integration

2013 ◽  
Vol 380-384 ◽  
pp. 1069-1072
Author(s):  
Qiang Fang ◽  
Xin Sheng Huang
Keyword(s):  
State Estimation ◽  
Inertial Measurement Unit ◽  
Sufficient Conditions ◽  
Inertial Navigation ◽  
Measurement Unit ◽  
Navigation Systems ◽  
Inertial Navigation Systems ◽  
Inertial Measurement ◽  
Observability Analysis ◽  
Inertial Measurements

Vision-aided inertial navigation systems can provide precise state estimates for the 3-D motion of a vehicle. This is achieved by combining inertial measurements from an inertial measurement unit (IMU) with visual observations from a camera. Observability is a key aspect of the state estimation problem of INS/Camera. In most previous research, conservative observability concepts based on Lie derivatives have extensively been used to characterize the estimability properties. In this paper, we present a novel approache to investigate the observability of INS/Camera: global observability. The global observability method directly starts from the basic observability definition. The global observability analysis approach is not only straightforward and comprehensive but also provides us with new insights compared with conventional methods. Some sufficient conditions for the global observability of the system is provided.

Observability analysis and bad data processing for state estimation using Hachtel's augmented matrix method

1988 ◽  
Vol 3 (2) ◽  
pp. 604-611 ◽  
Author(s):  
F.F. Wu ◽  
W.-H.E. Liu ◽  
L. Holten ◽  
L. Gjelsvik ◽  
S. Aam
Keyword(s):  
Data Processing ◽  
State Estimation ◽  
Matrix Method ◽  
Observability Analysis ◽  
Bad Data

Observability Analysis in State Estimation: A Unified Numerical Approach

2006 ◽  
Vol 21 (2) ◽  
pp. 877-886 ◽  
Author(s):  
E. Castillo ◽  
A.J. Conejo ◽  
R.E. Pruneda ◽  
C. Solares
Keyword(s):  
State Estimation ◽  
Numerical Approach ◽  
Observability Analysis
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