{"ID":2832743,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2512.06198","arxiv_id":"2512.06198","title":"Cascaded Tightly-Coupled Observer Design for Single-Range-Aided Inertial Navigation","abstract":"This work introduces a single-range-aided navigation observer that reconstructs the full state of a rigid body using only an Inertial Measurement Unit (IMU), a body-frame vector measurement (e.g., magnetometer), and a distance measurement from a fixed anchor point. The design first formulates an extended linear time-varying (LTV) system to estimate body-frame position, body-frame velocity, and the gravity direction. The recovered gravity direction, combined with the body-frame vector measurement, is then used to reconstruct the full orientation on $\\mathrm{SO}(3)$, resulting in a cascaded observer architecture. Almost Global Asymptotic Stability (AGAS) of the cascaded design is established under a uniform observability condition, ensuring robustness to sensor noise and trajectory variations. Simulation studies on three-dimensional trajectories demonstrate accurate estimation of position, velocity, and orientation, highlighting single-range aiding as a lightweight and effective modality for autonomous navigation.","short_abstract":"This work introduces a single-range-aided navigation observer that reconstructs the full state of a rigid body using only an Inertial Measurement Unit (IMU), a body-frame vector measurement (e.g., magnetometer), and a distance measurement from a fixed anchor point. The design first formulates an extended linear time-va...","url_abs":"https://arxiv.org/abs/2512.06198","url_pdf":"https://arxiv.org/pdf/2512.06198v1","authors":"[\"Oussama Sifour\",\"Soulaimane Berkane\",\"Abdelhamid Tayebi\"]","published":"2025-12-05T22:44:22Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"eess.SY\"]","methods":"[]","has_code":false}