MULTISTAGE NONLINEAR ESTIMATION WITH APPLICATIONS TO IMAGE BASED PARAMETER ESTIMATION

摘要

In this paper we apply recently developed results in single stage nonlinear observer design to estimate motion and shape parameters of a rigid object undergoing rotation and translational motion. We also extend results in single stage observer design problems to a cascade of single stages and introduce a new theory of multistage nonlinear observer design. The multistage observer design problem has been applied to the problem of estimating motion and range parameters for a rigid object falling freely under gravity. All the proposed applications of the observer have been simulated and the results are described in this paper.