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DTSTART:20241027T030000
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UID:calendar.28693.field_data.0@www.diag.uniroma1.it
DTSTAMP:20260407T025144Z
CREATED:20250315T182137Z
DESCRIPTION:Seminar by Pieter van Goor (University of Twente)Title: Synchro
 nous State Estimation for Inertial Navigation SystemsAbstract:An Inertial 
 Navigation System (INS) is a system that integrates acceleration and angul
 ar velocity readings from an Inertial Measurement Unit (IMU)\, along with 
 other sensors such as GNSS position\, GNSS velocity\, and a magnetometer\,
  to estimate the attitude\, velocity\, and position of a vehicle. In this 
 talk I demonstrate how the INS problem can be analysed using the automorph
 isms of the extended special Euclidean group: a new Lie group called the e
 xtended similarity group. Using this novel geometric framework\, I will de
 rive an observer architecture with synchronous error dynamics\; that is\, 
 the error is stationary if the observer correction terms are set to zero. 
 I then use this synchrony property to derive a modular\, or plug-and-play\
 , observer design for INS that allows different sensors to be added or rem
 oved depending on what is available in the vehicle sensor suite. This resu
 lting observer guarantees both almost-global asymptotic and local exponent
 ial stability of the error dynamics for the common scenario where at least
  an IMU and GNSS position sensor are available\, and it is the first non-l
 inear observer in the literature to do so. A simulation with extreme initi
 al error demonstrates the almost-global robustness of the system. I also s
 how its real-world capability through demonstrations on data from a fixed-
 wing UAV\, and the solution is compared to the state-of-the-art ArduPilot 
 INS. Finally\, I will discuss some extensions to the initial work\, includ
 ing implementation into ArduPilot and compensation of measurement delays.B
 iography:Pieter van Goor is currently a postdoctoral research fellow with 
 the Robotics and Mechatronics (RAM) group at the university of Twente\, su
 pervised by Antonio Franchi and supported by the Marie Sklodowska-Curie Ac
 tion of the European Research Council. Prior to this\, he worked as a rese
 arch fellow in the Systems Theory and Robotics (STR) group at the Australi
 an National University (ANU) on the development of equivariant systems the
 ory and applications to problems in robotics and control. Pieter completed
  his Bachelor of Engineering (Research & Development) (Honours) and Bachel
 or of Science at ANU in 2018\, majoring in Mechatronics and Mathematics re
 spectively. His PhD was awarded in 2023\, in which he studied equivariant 
 observer design and its application to problems in visual spatial awarenes
 s under the supervision of Robert Mahony at the ANU. His research interest
 s include geometric systems theory\, state estimation\, and perception for
  robotic systems. 
DTSTART;TZID=Europe/Paris:20250321T110000
DTEND;TZID=Europe/Paris:20250321T110000
LAST-MODIFIED:20250319T132758Z
LOCATION:Aula Magna
SUMMARY:Seminar: Synchronous State Estimation for Inertial Navigation Syste
 ms - Pieter van Goor (University of Twente)
URL;TYPE=URI:https://www.diag.uniroma1.it/node/28693
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