Nonlinear Observers Design for Vision-Aided Inertial Navigation Systems

This paper deals with the simultaneous estimation of attitude, position and linear velocity for vision-aided inertial navigation systems. We propose a nonlinear observer on $SO(3)\times \mathbb{R}^{15}$ relying body-frame acceleration, angular (stereo or monocular) bearing measurements some landmarks that are constant known in frame. Unlike existing local Kalman-type observers, our proposed guarantees almost global asymptotic stability exponential stability. A detailed uniform observability analysis has been conducted sufficient conditions derived. Moreover, hybrid version is provided to handle intermittent nature practical applications. Simulation experimental results illustrate effectiveness state observer.