Navigation system for ground vehicles using temporally interconnected observers

In this paper, we propose an analysis of a recently introduced navigation technique for an automotive vehicle. This method involves several observers, each designed for a particular type of trajectory, that are turned on and off according to a switching policy. Each observer takes advantage on the observability properties found along these trajectories. The contribution of this paper is an analysis of the convergence properties of the resulting temporal interconnection of observers. In details, decay rate estimates of each of the observers, arising from their uniform complete observability properties, are used to guarantee convergence of the constituted navigation system.