Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Preprint |
| Published: |
2026
|
| Subjects: | |
| Online Access: | https://arxiv.org/abs/2604.05156 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866915919371960320 |
|---|---|
| author | Saha, Arkadeep van Goor, Pieter Banavar, Ravi |
| author_facet | Saha, Arkadeep van Goor, Pieter Banavar, Ravi |
| contents | In Landmark-Inertial Simultaneous Localisation and Mapping (LI-SLAM), the positions of landmarks in the environment and the robot's pose relative to these landmarks are estimated using landmark position measurements, and measurements from the Inertial Measurement Unit (IMU). However, the robot and landmark positions in the inertial frame, and the yaw of the robot, are not observable in LI-SLAM. This paper proposes a nonlinear observer for LI-SLAM that overcomes the observability constraints with the addition of intermittent GNSS position and magnetometer measurements. The full-state error dynamics of the proposed observer is shown to be both almost-globally asymptotically stable and locally exponentially stable, and this is validated using simulations. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_05156 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Synchronous Observer Design for Landmark-Inertial SLAM with Magnetometer and Intermittent GNSS Measurements Saha, Arkadeep van Goor, Pieter Banavar, Ravi Systems and Control Robotics In Landmark-Inertial Simultaneous Localisation and Mapping (LI-SLAM), the positions of landmarks in the environment and the robot's pose relative to these landmarks are estimated using landmark position measurements, and measurements from the Inertial Measurement Unit (IMU). However, the robot and landmark positions in the inertial frame, and the yaw of the robot, are not observable in LI-SLAM. This paper proposes a nonlinear observer for LI-SLAM that overcomes the observability constraints with the addition of intermittent GNSS position and magnetometer measurements. The full-state error dynamics of the proposed observer is shown to be both almost-globally asymptotically stable and locally exponentially stable, and this is validated using simulations. |
| title | Synchronous Observer Design for Landmark-Inertial SLAM with Magnetometer and Intermittent GNSS Measurements |
| topic | Systems and Control Robotics |
| url | https://arxiv.org/abs/2604.05156 |