Synchronous Observer Design for Landmark-Inertial SLAM with Magnetometer and Intermittent GNSS Measurements

TL;DR

This paper introduces a nonlinear observer for Landmark-Inertial SLAM that integrates intermittent GNSS and magnetometer data to address observability issues, ensuring stability and validated through simulations.

Contribution

It proposes a novel observer design that overcomes observability constraints in LI-SLAM by incorporating intermittent GNSS and magnetometer measurements.

Findings

Observer achieves almost-globally asymptotic stability.

Observer ensures local exponential stability.

Simulation results validate the stability and effectiveness.

Abstract

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.