Nonlinear observer on SO(3) for attitude estimation on rotating earth using single vector measurements

doi:10.1109/LCSYS.2018.2886740

	Nonlinear observer on SO(3) for attitude estimation on rotating earth using single vector measurements
	Reis J.2; Batista P.1; Oliveira P.1; Silvestre C.2
	2019-04-01
Source Publication	IEEE Control Systems Letters
ISSN	24751456
Volume	3 Issue:2 Pages:392-397
Abstract	This letter presents a novel attitude estimation solution, built on SO(3), that resorts to single measurements of a constant inertial vector, in addition to angular velocity readings provided by a set of three high-grade fiber optic rate gyros, which are assumed to be sensitive to the angular motion of the Earth. This approach contrasts with typical attitude solutions that require either a single but time-varying inertial vector, or measurements of two non-collinear inertial vectors. The designed nonlinear observer features only one tuning scalar parameter that, in view of the region of convergence of the rotation matrix error, is shown to render the proposed solution almost globally asymptotically stable. Extensive simulation results with realistic noise, including Monte Carlo, are presented that allow to assess the achievable performance.
Keyword	almost global stability Attitude observer single body-vector spherical rotating earth topological constraints
DOI	10.1109/LCSYS.2018.2886740
URL	View the original
Language	英語
全文获取链接	View Full-Text via DOI View Full-Text via Scopus
引用统计
Document Type	Journal article
专题	University of Macau
Affiliation	1.Instituto Superior Técnico 2.Universidade de Macau
推荐引用方式 GB/T 7714	Reis J.,Batista P.,Oliveira P.,et al. Nonlinear observer on SO(3) for attitude estimation on rotating earth using single vector measurements[J]. IEEE Control Systems Letters,2019,3(2):392-397.
APA	Reis J.,Batista P.,Oliveira P.,&Silvestre C..(2019).Nonlinear observer on SO(3) for attitude estimation on rotating earth using single vector measurements.IEEE Control Systems Letters,3(2),392-397.
MLA	Reis J.,et al."Nonlinear observer on SO(3) for attitude estimation on rotating earth using single vector measurements".IEEE Control Systems Letters 3.2(2019):392-397.