UM
Nonlinear Attitude Observer on SO(3) Based on Single Body-Vector Measurements
Reis J.1; Batista P.2; Oliveira P.2; Silvestre C.1
2018-10-26
Source Publication2018 IEEE Conference on Control Technology and Applications, CCTA 2018
Pages1319-1324
AbstractThis paper proposes a nonlinear attitude observer, built on the special orthogonal group SO(3), that resorts to body measurements of a single constant inertial vector, in addition to the angular velocity obtained from a set of three high-grade fiber optic gyros, which are herein assumed sensitive enough to measure the Earth's rotation vector. This strategy contrasts with typical attitude solutions that require measurements of two non-collinear inertial vectors, and can be very useful in scenarios with either strong magnetic anomalies or highly-accelerated vehicles, where either the magnetometer or accelerometer measurements may no longer be useful for attitude estimation in traditional solutions. The attitude estimation solution features a tuning parameter, in the form of a positive scalar gain, and the nonlinear error dynamics associated to the observer are shown to be locally exponentially stable. Simulation results with realistic noise are presented that allow to assess the performance of the proposed solution.
KeywordAttitude Observer Local Exponential Stability Single Body-Vector Topological Constraints
DOI10.1109/CCTA.2018.8511381
URLView the original
Language英語
Fulltext Access
Citation statistics
Document TypeConference paper
CollectionUniversity of Macau
Affiliation1.Universidade de Macau
2.Instituto Superior Técnico
Recommended Citation
GB/T 7714
Reis J.,Batista P.,Oliveira P.,et al. Nonlinear Attitude Observer on SO(3) Based on Single Body-Vector Measurements[C],2018:1319-1324.
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Reis J.]'s Articles
[Batista P.]'s Articles
[Oliveira P.]'s Articles
Baidu academic
Similar articles in Baidu academic
[Reis J.]'s Articles
[Batista P.]'s Articles
[Oliveira P.]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Reis J.]'s Articles
[Batista P.]'s Articles
[Oliveira P.]'s Articles
Terms of Use
No data!
Social Bookmark/Share
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.