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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 PublicationIEEE Control Systems Letters
ISSN24751456
Volume3Issue:2Pages:392-397
AbstractThis 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.
Keywordalmost global stability Attitude observer single body-vector spherical rotating earth topological constraints
DOI10.1109/LCSYS.2018.2886740
URLView the original
Language英語
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Document TypeJournal article
专题University of Macau
Affiliation1.Instituto Superior Técnico
2.Universidade de Macau
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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.
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