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Publication type: Article in Proceedings
Author: Tom Koller, Tim Laue, Udo Frese
Editor: Oleg Gusikhin
Title: State Observability through Prior Knowledge: A Conceptional Paradigm in Inertial Sensing
Book / Collection title: Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics
Volume: 1
Page(s): 781 – 788
Year published: 2019
Publisher: SCITEPRESS
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 therotically. With a therotical foundation, application design will be simplifed and verifiable. We show methods to start the analysis and give a first proof with practical insight.
PDF Version: http://www.informatik.uni-bremen.de/agebv/zavi?action=AttachFile&do=get&target=Icinco19.pdf
Status: Reviewed
Last updated: 05. 08. 2019

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