Further results on the observability in magneto-inertial navigation

This paper shows that one can relax an important assumption usually formulated to employ the magneto-inertial navigation (MINAV) technique. This technique, which allows to reconstruct the velocity of a rigid body moving in a magnetically disturbed area, usually assumes that the (unknown) Jacobian of the magnetic field is everywhere non-singular. As it is here demonstrated, this assumption can be significantly alleviated thanks to further investigations on the observability of the dynamics at stake. Corresponding relaxed assumptions require rotations to sufficiently come into play during the motion one wishes to estimate the velocity of. This result opens new perspectives on the range of applicability of the MINAV technique.

[1]  G. Besançon.  An Overview on Observer Tools for Nonlinear Systems , 2007 .

[2]  Nicolas Petit,et al.  Harmonization of a multi-sensor navigation system , 2011, 2011 International Conference on Indoor Positioning and Indoor Navigation.

[3]  David Vissi.  Guidance navigation and control solutions for unmanned heterogeneous vehicles during a collaborative mission , 2008 .

[4]  R. Bucy,et al.  Filtering for stochastic processes with applications to guidance , 1968 .

[5]  Nicolas Petit,et al.  Using magnetic disturbances to improve IMU-based position estimation , 2007, 2007 European Control Conference (ECC).

[6]  R. E. Kalman,et al.  New Results in Linear Filtering and Prediction Theory , 1961 .

[7]  Eric Dorveaux,et al.  Magneto-inertial navigation: principles and application to an indoor pedometer , 2011 .

[8]  Nicolas Petit,et al.  Using distributed magnetometers to increase IMU-based velocity estimation into perturbed area , 2007, 2007 46th IEEE Conference on Decision and Control.

[9]  Nicolas Petit,et al.  Combining inertial measurements and distributed magnetometry for motion estimation , 2011, Proceedings of the 2011 American Control Conference.

[10]  Gildas Besancon,et al.  Nonlinear observers and applications , 2007 .

[11]  Petros A. Ioannou,et al.  Robust Adaptive Control , 2012 .

[12]  Nicolas Petit,et al.  Design of a navigation filter by analysis of local observability , 2010, 49th IEEE Conference on Decision and Control (CDC).

[13]  Carlos Silvestre,et al.  On the observability of linear motion quantities in navigation systems , 2011, Syst. Control. Lett..