Semiglobally Asymptotically Stable Nonlinear Observer for Camera Aided Navigation

This brief presents a nonlinear observer that performs range estimation as well gyro-bias by using velocity, angular rate, and bearing angle measurements from landmarks at unknown locations. The is proved to have semiglobal asymptotic stability, its performance verified in simulations on experimental data. demonstrated an unmanned aerial vehicle (UAV) with sensor setup consisting of camera, inertial measurement unit (IMU), velocity measured global navigation satellite system (GNSS). suite sufficient replace the magnetometer altimeter.