Generalized multi-output high-gain observer with application to ego vehicle trajectory and orientation estimation

This study addresses the critical issue of vehicle localization, using a novel enhanced multi- output nonlinear high-gain observer. The nonlinear observer is specifically designed to estimate the real-time trajectory and orientation of the ego vehicle, which are needed in steering control and other autonomous driving applications. Unlike a traditional high-gain observer, the new nonlinear observer method proposed in this paper ensures input-to-state stability, is applicable to systems in a more general system form, and can accommodate additional measurements as well as constraints in the system dynamics. The paper first outlines the new high-gain observer design methodology for a dynamic system with multiple outputs. The performance of the observer is then evaluated through simulations and real-world experimental tests using the KITTI dataset. Both types of results confirm the effectiveness and robustness of the observer in tracking the ego vehicle trajectory and estimating vehicle states.