Nonlinear attitude estimation from biased vector and gyro measurements - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2018

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.
Fichier principal
Vignette du fichier
root.pdf (976.84 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-01960610 , version 1 (08-01-2019)

Identifiants

  • HAL Id : hal-01960610 , version 1

Citer

Philippe Martin, Ioannis Sarras. Nonlinear attitude estimation from biased vector and gyro measurements. 57th IEEE Conference on Decision and Control, 2018, Miami Beach, FL, United States. ⟨hal-01960610⟩
57 Consultations
117 Téléchargements

Partager

Gmail Facebook X LinkedIn More