Tri-axial linear accelerometers are key components in a great variety of applications and, particular, navigation systems. Nonidealities such as scale factors, cross coupling, bias, and other higher-order nonlinearities affect the output this sensor, leading, general, to prohibitive errors. On hand, these coefficients often slowly time-varying, which renders offline calibration less effective. One coefficient that usually varies greatly over time between power-ons is bias. This paper details...

This technical note presents the design, analysis, and performance evaluation of a novel globally asymptotically stable (GAS) filter for attitude estimation. The design is sensor-driven departs from traditional solutions as no explicit representations are considered. proposed solution yields unique estimates it does not suffer drawbacks such singularities, topological limitations achieving global stabilization, or unwinding phenomena. overall estimation evaluated with implementation an...

This paper develops a navigation system based on complementary filtering for position and attitude estimation, with application to autonomous surface crafts. Using strapdown inertial measurements, vector observations, global positioning (GPS) aiding, the proposed filters provide estimates in Euler angles representation Earth frame coordinates, while compensating rate gyro bias. Stability performance properties of under operating conditions usually found oceanic applications are derived,...

This paper presents the steps for developing a low-cost POrtableNavigation Tool Underwater Scenarios (PONTUS) to be used as localization device subsea targets. PONTUS consists of an integrated ultra-short baseline acoustic positioning system aided by inertial navigation system. Built on practical design, it can mounted underwater robotic vehicle or operated scuba diver. It also features graphical user interface that provides information tracking designated target, in addition some details...

A new sensor-based homing integrated guidance and control law is presented to drive an underactuated autonomous underwater vehicle (AUV) toward a fixed target, in three dimensions, using the information provided by ultrashort baseline (USBL) positioning system. The first derived quaternions express vehicle's attitude kinematics, which are directly obtained from time differences of arrival (TDOA) measured USBL sensor. dynamics then included resorting backstepping techniques. proposed...

This paper presents the design, analysis, and experimental validation of a globally asymptotically stable (GAS) filter for simultaneous localization mapping (SLAM), with application to unmanned aerial vehicles. The SLAM problem is formulated in sensor-based framework modified such way that underlying system structure can be regarded as linear time varying observability analysis design purposes, from which Kalman GAS error dynamics follows naturally. performance consistency proposed are...

This paper introduces a quadrotor trajectory tracking controller comprising steady-state optimal position with normed input saturation and modular integrative action coupled backstepping attitude controller. First, the translational rotational dynamical models are designed in body-fixed frame to avoid external rotations partitioned into an underactuated system quaternion-based system. Secondly, is separately for each subsystem, namely, (i) synthesis derived from Maximum Principle, Lyapunov,...

This paper addresses the problem of navigation autonomous vehicles based on range to a single beacon. The vehicle is equipped with standard Inertial Measurement Unit (IMU) and measurements source are available as an aiding observation, in addition angular velocity readings. contribution twofold: i) necessary sufficient conditions observability system derived that can be used for motion planning control vehicle; ii) linear model developed mimics exact dynamics nonlinear range-based system,...

Abstract This paper presents a novel long baseline ( LBL ) position and velocity navigation filter for underwater vehicles based directly on the sensor measurements. The solution departs from previous approaches as range measurements are explicitly embedded in design, therefore avoiding inversion algorithms allowing also consideration of cases reduced numbers readings, particular when there only two or three distance nonlinear system dynamics considered to their full extent no linearizations...

This paper proposes a novel integrated navigation filter based on combined long baseline/ultra short baseline acoustic positioning system with application to underwater vehicles. With tightly coupled structure, the position, linear velocity, attitude, and rate gyro bias are estimated, considering full nonlinear dynamics without resorting any algebraic inversion or linearisation techniques. The resulting solution ensures convergence of estimation error zero for all initial conditions,...