基于IMU与地标数据，设计了三维刚体SLAM的稳定观测器。
Nonlinear Observer Design for Landmark-Inertial Simultaneous Localization and Mapping
- 构建新李群SE_{3+n}(3)融合姿态、重力、速度与地标位置
- 实现几乎全局渐近稳定，估计结果含恒定平移和重力轴旋转
- 适合需要高鲁棒性的无人机/机器人定位系统
本文研究三维空间中刚体系统的同时定位与地图构建（SLAM）问题。提出一个新的矩阵李群SE_{3+n}(3)，其元素包含位姿、重力、线速度及地标位置。设计了一种几乎全局渐近稳定的非线性几何观测器，融合惯性测量单元（IMU）数据与地标观测。所提观测器可估计位姿与地图，但存在恒定位置偏移和绕重力方向的恒定旋转。通过数值仿真验证了该观测器的性能与有效性，展示了其在鲁棒SLAM应用中的潜力。
原文摘要 · Abstract (English)
This paper addresses the problem of Simultaneous Localization and Mapping (SLAM) for rigid body systems in three-dimensional space. We introduce a new matrix Lie group SE_{3+n}(3), whose elements are composed of the pose, gravity, linear velocity and landmark positions, and propose an almost globally asymptotically stable nonlinear geometric observer that integrates Inertial Measurement Unit (IMU) data with landmark measurements. The proposed observer estimates the pose and map up to a constant position and a constant rotation about the gravity direction. Numerical simulations are provided to validate the performance and effectiveness of the proposed observer, demonstrating its potential for robust SLAM applications.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。