In this work, observability properties of Inertial Navigation Systems aided with Global Navigation Satellite Systems and Visual Odometry are investigated and applied to the case of UAVs. A global analysis is carried out exploiting the concept of indistinguishable trajectories, that are characterized by solutions of Differential Algebraic Equations. A hybrid formulation is presented to combine two different indistin- guishable dynamics, which arise depending on vehicle speed. For particular scenarios commonly encountered in practice, explicit conditions on the system inputs are obtained and appropriately cast as persistency of excitation requirements. With the presented tools, the benefits from Visual Odometry in enhancing observability can be appreciated, in particular w.r.t. attitude and bias estimation, and useful practical indication on the kind of maneuvers making the system observable can be drawn. Assessment of the theoretical results is provided by means of realistic numerical simulations, tailored to the considered UAV application.
Global Observability Analysis of Aided-INS for UAVs Equipped with Visual Odometry Systems / Bosso, Alessandro; Mimmo, Nicola; Conficoni, Christian; Tilli, Andrea. - ELETTRONICO. - (2018), pp. 8550616.2909-8550616.2916. (Intervento presentato al convegno 16th European Control Conference, ECC 2018 tenutosi a Cyprus nel June 12-15, 2018) [10.23919/ECC.2018.8550616].
Global Observability Analysis of Aided-INS for UAVs Equipped with Visual Odometry Systems
Bosso, Alessandro;Mimmo, Nicola;Conficoni, Christian;Tilli, Andrea
2018
Abstract
In this work, observability properties of Inertial Navigation Systems aided with Global Navigation Satellite Systems and Visual Odometry are investigated and applied to the case of UAVs. A global analysis is carried out exploiting the concept of indistinguishable trajectories, that are characterized by solutions of Differential Algebraic Equations. A hybrid formulation is presented to combine two different indistin- guishable dynamics, which arise depending on vehicle speed. For particular scenarios commonly encountered in practice, explicit conditions on the system inputs are obtained and appropriately cast as persistency of excitation requirements. With the presented tools, the benefits from Visual Odometry in enhancing observability can be appreciated, in particular w.r.t. attitude and bias estimation, and useful practical indication on the kind of maneuvers making the system observable can be drawn. Assessment of the theoretical results is provided by means of realistic numerical simulations, tailored to the considered UAV application.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.