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Nonlinear attitude observer based on range and inertial measurements
Bras S.2; Cunha R.2; Silvestre C.J.1,2; Oliveira P.J.2
2013-09-01
Source PublicationIEEE Transactions on Control Systems Technology
ISSN10636536
Volume21Issue:5Pages:1889-1897
Abstract

We address the problem of attitude and rate gyro bias estimation based on inertial and range data. Range measurements are obtained from beacons installed in an inertial frame and acoustic sensors fixed in the moving body reference frame. A nonlinear observer is proposed and its stability and performance properties are studied using Lyapunov techniques. In the presence of constant bias on the rate gyro measurements, the attitude and bias estimates are shown to converge exponentially to the desired values inside an almost global region of attraction. For time-varying bias with bounded derivative, a local result of ultimate boundedness is provided. The performance of the proposed nonlinear observer is validated experimentally using a high-accuracy calibration table, which provides ground-truth signals for comparison with the resulting estimates. © 2012 IEEE.

KeywordAttitude Estimation Lyapunov Method Nonlinear Systems Observers
DOI10.1109/TCST.2012.2213821
URLView the original
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000323512300031
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被引频次[WOS]:4   [WOS记录]     [WOS相关记录]
Document TypeJournal article
专题DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Universidade de Macau
2.Instituto Superior Técnico
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Bras S.,Cunha R.,Silvestre C.J.,et al. Nonlinear attitude observer based on range and inertial measurements[J]. IEEE Transactions on Control Systems Technology,2013,21(5):1889-1897.
APA Bras S.,Cunha R.,Silvestre C.J.,&Oliveira P.J..(2013).Nonlinear attitude observer based on range and inertial measurements.IEEE Transactions on Control Systems Technology,21(5),1889-1897.
MLA Bras S.,et al."Nonlinear attitude observer based on range and inertial measurements".IEEE Transactions on Control Systems Technology 21.5(2013):1889-1897.
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