Finite-Time Position and Velocity Estimation Adapted to Noisy Biased Acceleration Measurements from Periodic Motion

International audienceThe present work focuses on the problem of velocity and position estimation. A solution is presented for a class of oscillating systems in which position, velocity and acceleration are zero mean signals. The proposed scheme considers that the dynamic model of the system is unknown. Only noisy acceleration measurements, that may be contaminated by zero mean noise and constant bias, are considered to be available. The proposal uses the periodic nature of the signals obtaining finite-time estimations while tackling integration drift accumulation