Nonlinear Observer for 3D Rigid Body Motion Estimation Using Doppler Measurements

Sérgio Brás, Maziar Izadi, Carlos Silvestre, Amit Sanyal, Paulo Oliveira

Research output: Contribution to journalArticlepeer-review

12 Scopus citations


This work presents a nonlinear observer that estimates the translational and rotational motion of a rigid body based on measurements of configuration (pose), angular velocity, and radial velocity as well as modeled forces and torques. The radial velocity measurements are provided by a single direction Doppler sensor. Using a conveniently defined Lyapunov function, a nonlinear observer on the Special Euclidean Group (SE(3)) is derived and almost globally stability is guaranteed. The resulting estimation error is almost globally exponentially convergent for sufficiently rich motion. Numerical simulation results are presented that illustrate the performance of the proposed solution.

Original languageEnglish (US)
Article number7400952
Pages (from-to)3580-3585
Number of pages6
JournalIEEE Transactions on Automatic Control
Issue number11
StatePublished - Nov 2016


  • Doppler measurements
  • navigation
  • nonlinear dynamic systems
  • observers
  • time-varying systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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