State Observability through Prior Knowledge: A Conceptional Paradigm in Inertial Sensing

Tom Koller, Tim Laue, Udo Frese

2019

Abstract

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.

Paper Citation

in Harvard Style

Koller T., Laue T. and Frese U. (2019). State Observability through Prior Knowledge: A Conceptional Paradigm in Inertial Sensing.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-380-3, pages 781-788. DOI: 10.5220/0007952307810788

in Bibtex Style

@conference{icinco19,
author={Tom Koller and Tim Laue and Udo Frese},
title={State Observability through Prior Knowledge: A Conceptional Paradigm in Inertial Sensing},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2019},
pages={781-788},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007952307810788},
isbn={978-989-758-380-3},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - State Observability through Prior Knowledge: A Conceptional Paradigm in Inertial Sensing
SN - 978-989-758-380-3
AU - Koller T.
AU - Laue T.
AU - Frese U.
PY - 2019
SP - 781
EP - 788
DO - 10.5220/0007952307810788