Observability Analysis of a Matrix Kalman Filter-Based Navigation System Using VisualInertialMagnetic Sensors 英文参考文献.docVIP

Sensors 2012, 12, 8877-8894; doi:10.3390/s120708877 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Observability Analysis of a Matrix Kalman Filter-Based Navigation System Using Visual/Inertial/Magnetic Sensors Guohu Feng 1,*, Wenqi Wu 1 and Jinling Wang 2 1 The College of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, Hunan, China; E-Mail: wenqiwu_lit@ 2 School of Surveying and Spatial Information Systems, University of New South Wales, Sydney, NSW 2052, Australia; E-Mail: jinling.wang@.au * Author to whom correspondence should be addressed; E-Mail: guohu_feng@; Tel./Fax: +86-731-8457-6463. Received: 14 May 2012; in revised form: 14 June 2012 / Accepted: 18 June 2012 / Published: 27 June 2012 Abstract: A matrix Kalman filter (MKF) has been implemented for an integrated navigation system using visual/inertial/magnetic sensors. The MKF rearranges the original nonlinear process model in a pseudo-linear process model. We employ the observability rank criterion based on Lie derivatives to verify the conditions under which the nonlinear system is observable. It has been proved that such observability conditions are: (a) at least one degree of rotational freedom is excited, and (b) at least two linearly independent horizontal lines and one vertical line are observed. Experimental results have validated the correctness of these observability conditions. Keywords: matrix Kalman filter; Lie derivatives; observability of nonlinear systems; navigation; vision; inertial measurement unit 1. Introduction Inertial navigation systems (INS) have been widely used in many systems, such as ground vehicles, airplanes, helicopters, robotic systems, etc. However, INS drift will lead to exponential growth of errors in the navigation solutions due to the double integration of acceleration signals within inertial navigation computations. Therefore, to overcome