ASIANS

 

Advances on Sensor Inertial Aided Navigation Systems

 

This project focused on the design and implementation of inertial navigation systems that must provide, in real time, accurate estimates of the linear and angular positions, and velocities of the platforms where they are installed. MEMS are nowadays key technologies to develop Inertial Navigation Systems for small autonomous platforms because of their reduced size, cost and power consumption, relative to conventional devices. This requires an extra effort in the development of online data acquisition and compensation techniques involving absolute sensors for biases compensation and platform alignment.  The overall goal of this project is twofold: 1) exploit different absolute sensor characteristics, in their natural measurement space, a sensor based strategy, using advanced tightly-coupled architectures to develop MEMS based INS for autonomous platforms; 2) develop state of the art high accuracy analog to digital interfaces that can minimize the impact of nonlinearities, bias stability, and temperature drift on the data acquired.  Constraints imposed by the different aiding sensors, like availability and accuracy, require smooth filter switching techniques between different INS compensation techniques. As final result of the project it is expect the overall improvement of low cost INS drifting behavior resorting to sensors that are currently available in the market and the production of a prototype.

 

Funding: University of Macau

Reference Number: MYRG118(Y1-L3)-FST12-SSW

Dates: 2012 – 2015

 

Project Publications

 

Articles in Journals (16)

 

  1. Pedro Casau, Ricardo G. Sanfelice, Rita Cunha, Carlos Silvestre, A Globally Asymptotically Stabilizing Trajectory Tracking Controller for Fully Actuated Rigid Bodies using Landmark-based Information, International Journal of Robust and Nonlinear Control, Published online DOI: 10.1002/rnc.3283, 2015.
  2. Pedro Casau, Ricardo G. Sanfelice, Rita Cunha, David Cabecinhas, Carlos Silvestre, Robust Global Trajectory Tracking for a Class of Underactuated Vehicles, Elsevier Automatica, Volume 58, Issue 8, Pages 90-98, August 2015.
  3. Pedro Lourenço, Pedro Batista, Paulo Oliveira, Carlos Silvestre, C.L. Philip Chen, Sensor-based globally exponentially stable range-only simultaneous localization and mapping, Elsevier Robotics and Autonomous Systems, Volume 68, Issue 4, Pages 72-85, June 2015.
  4. Daniel Viegas, Pedro Batista, Paulo Oliveira, Carlos Silvestre, C.L. Philip Chen, Distributed state estimation for linear multi-agent systems with time-varying measurement topology, Elsevier Automatica, Volume 54, Issue 4, Pages 72-79, April 2015.
  5. Daniel Viegas, Pedro Batista, Paulo Oliveira, Carlos Silvestre, C.L. Philip Chen, Distributed state estimation for linear multi-agent systems with time-varying measurement topology, Elsevier Automatica, Volume 54, Issue 4, Pages 72-79, April 2015.
  6. Pedro Serra, Rita Cunha, Tarek Hamel, Carlos Silvestre, Florent Le Bras, Nonlinear Image-Based Visual Servo Controller for the Flare Manoeuvre of Fixed-Wing Aircraft using Optical Flow, IEEE Transactions on Control Systems Technology, Volume 23, Issue 2, Pages 570-583, March 2015.
  7. David Cabecinhas, Rita Cunha, Carlos Silvestre, A Globally Stabilizing Path Following Controller for Rotorcraft With Wind Disturbance Rejection, IEEE Transactions on Control Systems Technology, Volume 23, Issue 2, Pages 708-714, March 2015.
  8. V. Roldão, R. Cunha, D. Cabecinhas, C. Silvestre, P. Oliveira, A leader-following trajectory generator with application to quadrotor formation flight, Elsevier Robotics and Autonomous Systems, Volume 62, Issue 10, Pages 1597-1609, October 2014.
  9. Bruno J. Guerreiro, Carlos Silvestre, Paulo Oliveira, Automatic 2-D LiDAR Geometric Calibration of Installation Bias, Elsevier Robotics and Autonomous Systems, Volume 62, Issue 8, Pages 1116-1129, August 2014.
  10. David Cabecinhas, Rita Cunha, Carlos Silvestre, A nonlinear quadrotor trajectory tracking controller with disturbance rejection, Elsevier Control Engineering Practice, Volume 21, Issue 3, Pages 242-252, May 2014.
  11. Bruno Guerreiro, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Globally Asymptotically Stable Sensor-based Simultaneous Localization and Mapping, IEEE Transactions on Robotics, Volume 29, Number 6, Pages 1380-1395, December 2013.
  12. Pedro Batista, Carlos Silvestre, Paulo Oliveira, Globally Exponentially Stable Filters for Source Localization and Navigation aided by Direction Measurements, Elsevier Systems and Control Letters, Volume 62, Issue 11, Pages 1065-1072, November 2013.
  13. Pedro Casau, David Cabecinhas, Carlos Silvestre, Hybrid Control Strategy for the Autonomous Transition Flight of a Fixed-Wing Aircraft, IEEE Transactions on Control Systems Technology, Volume 21, Number 6, Pages 2194-2211, November 2013.
  14. Sérgio Brás, Rita Cunha, Carlos Silvestre, Paulo Oliveira, Nonlinear Attitude Observer Based on Range and Inertial Measurements, IEEE Transactions on Control Systems Technology, Volume 21, Number 5, Pages 1889-1897, September 2013.
  15. B. Guerreiro, C. Silvestre, R. Cunha, Terrain Avoidance Nonlinear Model Predictive Control for Autonomous Rotorcraft, Journal of Intelligent & Robotic Systems, Volume 68, Issue 1, Pages 69-85, September 2012.
  16. D. Cabecinhas, R. Naldi, L. Marconi, C. Silvestre, R. Cunha, Robust Take-off for a Quadrotor Vehicle, IEEE Transactions on Robotics, Volume 28, Issue 3, Pages 734-742, June 2012.

 

Articles in Conferences (20)

 

  1. Pedro Pereira, Rita Cunha, David Cabecinhas, Carlos Silvestre, Paulo Oliveira, Trailer-Like Leader Following Trajectory Planning, Proc. of the 53th IEEE Conference on Decision and Control (CDC 2014), Los Angeles, California, USA, December 15-17, 2014.
  2. Pedro Serra, Rita Cunha, Tarek Hamel, David Cabecinhas, Carlos Silvestre, Landing on a Moving Target using Image-Based Visual Servo Control, Proc. of the 53th IEEE Conference on Decision and Control (CDC 2014), Los Angeles, California, USA, December 15-17, 2014.
  3. Daniel Viegas, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Nonlinear observability and observer design through state augmentation, Proc. of the 53th IEEE Conference on Decision and Control (CDC 2014), Los Angeles, California, USA, December 15-17, 2014.
  4. Pedro Batista, Carlos Silvestre, Paulo Oliveira, Attitude and Earth Velocity Estimation – Part II: Observer on the Special Orthogonal Group, Proc. of the 53th IEEE Conference on Decision and Control (CDC 2014), Los Angeles, California, December 15-17, 2014.
  5. Pedro Batista, Carlos Silvestre, Paulo Oliveira, Attitude and Earth Velocity Estimation – Part I: Globally Exponentially Stable Observer, Proc. of the 53th IEEE Conference on Decision and Control (CDC 2014), Los Angeles, California, USA, December 15-17, 2014.
  6. Pedro Casau, Ricardo Sanfelice, Rita Cunha, David Cabecinhas, Carlos Silvestre, A Hybrid Feedback Controller for Robust Global Trajectory Tracking of Quadrotor-like Vehicles with Minimized Attitude Error, Proc. of the IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, China, June 2-4, 2014.
  7. Joel Oliveira Reis, Paulo Oliveira, Pedro Batista, Carlos Silvestre, Filter Design for Localization Aided by Direction and Doppler Measurements, Proc. of the IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, China, June 2-4, 2014.
  8. David Cabecinhas, Rita Cunha, Carlos Silvestre, A Robust Landing and Sliding Maneuver Controller for a Quadrotor Vehicle on a Sloped Incline, Proc. of the IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, China, June 2-4, 2014.
  9. Sérgio Brás, Maziar Izadi, Carlos Silvestre, Amit Sanyal, Paulo Oliveira, Nonlinear Observer for 3D Rigid Body Motion, Proc. of the 52th IEEE Conference on Decision and Control (CDC 2013), Firenze, Italy, December 10-13, 2013.
  10. Pedro Batista, Carlos Silvestre, Paulo Oliveira, GES Source Localization and Navigation based on Discrete-Time Bearing Measurements, Proc. of the 52th IEEE Conference on Decision and Control (CDC 2013), Firenze, Italy, December 10-13, 2013.
  11. Cabecinhas, David, Cunha, Rita, Silvestre, Carlos, Experimental validation of a nonlinear quadrotor controller with wind disturbance rejection, Proc. of the European Control Conference ECC 2013, Zurich, Switzerland, July 17-19, 2013.
  12. Roldão, Valter, Cunha, Rita, Cabecinhas, David, Silvestre, Carlos, Oliveira, Paulo, A novel leader-following strategy applied to formations of quadrotors, Proc. of the European Control Conference ECC 2013, Zurich, Switzerland, July 17-19, 2013.
  13. Lourenço, Pedro, Guerreiro, Bruno, Batista, Pedro, Oliveira, Paulo, Silvestre, Carlos, 3-D Inertial Trajectory and Map Online Estimation: Building on a GAS Sensor-based SLAM filter, Proc. of the European Control Conference ECC 2013, Zurich, Switzerland, July 17-19, 2013.
  14. Casau, Pedro, Sanfelice, Ricardo G., Cunha, Rita, Cabecinhas, David, Silvestre, Carlos, Global Trajectory Tracking for a Class of Underactuated Vehicles, Proc. of the American Control Conference (ACC 2013), Washington, DC, USA, June 17-19, 2013.
  15. Cabecinhas, David, Cunha, Rita, Silvestre, Carlos, Experimental Validation of a Globally Stabilizing Feedback Controller for a Quadrotor Aircraft with Wind Disturbance Rejection, Proc. of the American Control Conference (ACC 2013), Washington, DC, USA, June 17-19, 2013.
  16. Batista, Pedro, Petit, Nicolas, Silvestre, Carlos, Oliveira, Paulo, Further Results on the Observability in Magneto-Inertial Navigation, Proc. of the American Control Conference (ACC 2013), Washington, DC, USA, June 17-19, 2013.
  17. Lourenço, Pedro, Guerreiro, Bruno, Batista, Pedro, Oliveira, Paulo, Silvestre, Carlos, Preliminary Results on Globally Asymptotically Stable Simultaneous Localization and Mapping in 3-D, Proc. of the American Control Conference (ACC 2013), Washington, DC, USA, June 17-19, 2013.
  18. Pedro Casau, Ricardo G. Sanfelice, Rita Cunha, Carlos Silvestre, A Landmark-Based Controller for Global Asymptotic Stabilization on SE(3), Proc. of the 51th IEEE Conference on Decision and Control (CDC 2012), Maui, Hawaii, USA, December 10-13, 2012.
  19. Pedro Serra, Rita Cunha, Carlos Silvestre, Tarek Hamel, Visual Servo Aircraft Control for Tracking Parallel Curves, Proc. of the 51th IEEE Conference on Decision and Control (CDC 2012), December 10-13, 2012, Maui, Hawaii, USA, December 10-13, 2012.
  20. David Cabecinhas, Sérgio Brás, Carlos Silvestre, Paulo Oliveira, Rita Cunha, Integrated Solution to Quadrotor Stabilization and Attitude Estimation Using a Pan and Tilt Camera, Proc. of the 51th IEEE Conference on Decision and Control (CDC 2012), Maui, Hawaii, USA, December 10-13, 2012.

MYRG117(Y1-L3)-FST12-MKM