Nonlinear attitude estimation from biased vector and gyro measurements
Résumé
This paper considers the problem of attitude estimation for rigid bodies using measurements from a triaxial rate gyro and two other vector sensors (e.g. accelerometers, magnetometers). The novelty is to take into account biases not only on the gyro, but also on one of the vector measurements. The attitude estimation is achieved by a nonlinear, "geometry-free", observer. We also study the observability of the system and obtain conditions under which the reconstruction of both the attitude and the biases is possible. Under these persistency-of-excitation conditions, and through an explicit Lyapunov analysis, we then establish the global asymptotic and local exponential convergence of the observer. The theoretical results are illustrated by a thorough numerical simulation.
Domaines
Optimisation et contrôle [math.OC]
Origine : Fichiers produits par l'(les) auteur(s)
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