Global estimation of rigid-body attitude/position using a single landmark and biased velocity measurements

In this paper we propose an observer for attitude and position estimation of a rigid body using data provided by rate gyros, Doppler sensors and a single landmark measurement. Under an observability condition which depends on landmark position, asymptotic convergence of the observer is proved. The initial attitude and position estimates can assume any values and hence the convergence is in global sense. We extend the observer for the case of non-ideal translational and angular velocity measurements. Simulation examples demonstrate position and attitude estimation in two cases: a single moving landmark, and three fixed landmarks.