通过添加间歇性GNSS和磁力计数据，解决惯性地标定位中的可观测性问题。
Synchronous Observer Design for Landmark-Inertial SLAM with Magnetometer and Intermittent GNSS Measurements
- 设计非线性观测器，融合磁力计与间歇GNSS提升系统可观测性。
- 理论证明状态误差动态几乎全局渐近稳定且局部指数稳定。
- 适用于室内外混合场景的机器人定位，尤其适合无连续卫星信号环境。
在基于地标-惯性的同步定位与地图构建（LI-SLAM）中，仅依靠地标位置测量和惯性测量单元（IMU）数据时，无法观测到惯性系下的机器人与地标位置，以及机器人的偏航角。本文提出一种非线性观测器，通过引入间歇性全球导航卫星系统（GNSS）位置测量和磁力计测量，克服了上述可观测性限制。所提观测器的全状态误差动力学被证明具有几乎全局渐近稳定性及局部指数稳定性，仿真验证了其有效性。
原文摘要 · Abstract (English)
In Landmark-Inertial Simultaneous Localisation and Mapping (LI-SLAM), the positions of landmarks in the environment and the robot's pose relative to these landmarks are estimated using landmark position measurements, and measurements from the Inertial Measurement Unit (IMU). However, the robot and landmark positions in the inertial frame, and the yaw of the robot, are not observable in LI-SLAM. This paper proposes a nonlinear observer for LI-SLAM that overcomes the observability constraints with the addition of intermittent GNSS position and magnetometer measurements. The full-state error dynamics of the proposed observer is shown to be both almost-globally asymptotically stable and locally exponentially stable, and this is validated using simulations.
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