Hybrid Pose and Velocity-Bias Estimation on $SE(3)$ Using Inertial and Landmark Measurements

This paper deals with the design of globally exponentially stable invariant observers on the Special Euclidian group <inline-formula><tex-math notation="LaTeX">$SE(3)$</tex-math></inline-formula>. First, we propose a generic hybrid estimation scheme (depending on a generic potential function) evolving on <inline-formula><tex-math notation="LaTeX">$SE(3)\times \mathbb {R}^6$</tex-math></inline-formula> for pose (orientation and position) and velocity-bias estimation. Thereafter, the proposed estimation scheme is formulated explicitly in terms of inertial vectors and landmark measurements. Interestingly, the proposed estimation scheme leads to a decoupled rotational error dynamics from the translational dynamics, which is an interesting feature in practical applications with noisy measurements and disturbances.

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