Globally Convergent Observer for the Rigid Body System on SE(3) in Presence of Intermittent Measurements

Abstract

We propose a globally asymptotically convergent hybrid observer for the rigid body rotation and translation system evolving on the special Euclidean group SE(3) in the presence of intermittent measurements of the pose and continuous measurements of the velocities. We embed the system into an ambient Euclidean space and design an observer on the Euclidean space for global convergence. We perform numerical simulation of the proposed observer to show convergence. We also perform simulation using data collected from an Intel Realsense T265 camera.