State Observability through Prior Knowledge: A Conceptional Paradigm in Inertial Sensing
State Observability through Prior Knowledge: A Conceptional Paradigm in Inertial Sensing
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DOI：
10.5220/0007952307810788
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发表时间：
2019-07
期刊：
影响因子：
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通讯作者：
Tom L. Koller;Tim Laue;U. Frese
中科院分区：
文献类型：
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作者：
Tom L. Koller;Tim Laue;U. Frese
惯性导航系统的位置和方位估计存在无界误差。外部感知传感器可能并不总是可用来纠正错误。文献中的应用通过以自组织方式将IMU数据与先验知识融合来克服这一问题。在不同的应用中，可以使用各种知识来修正错误的状态估计。在这份立场文件中，我们认为应该将知识和惯性传感器数据的融合视为一种范例，并从理论上分析具有先验知识的系统的可观性。有了理论基础，应用程序设计将得到简化和验证。我们展示了开始分析的方法，并给出了具有实际洞察力的第一个证明。
Inertial Navigation Systems suffer from unbounded errors on the position and orientation estimate. Exteroceptive sensors may not always be available to correct the error. Applications in the literature overcome this problem by fusing IMU data with prior knowledge in an ad-hoc fashion. In different applications, various knowledge is available, which allows to correct the erroneous state estimate. In this position paper, we argue that the fusion of knowledge and inertial sensor data should be viewed as a paradigm and that the observability of systems with prior knowledge should be analysed theoretically. With a theoretical foundation, application design will be simplified and verifiable. We show methods to start the analysis and give a first proof with practical insight.