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A GES attitude observer with single vector observations
Batista P.1; Silvestre C.1,2; Oliveira P.1
2012
Source PublicationAutomatica
ISSN51098
Volume48Issue:2Pages:388
Abstract

This paper proposes a globally exponentially stable (GES) observer for attitude estimation based on a single time-varying reference vector, in inertial coordinates, and corresponding vector, in body-fixed coordinates, in addition to angular velocity readings. The proposed solution is computationally efficient and, in spite of the fact that the observer does not evolve on the Special Orthogonal Group SO(3), an explicit solution on SO(3) is also provided, whose error is shown to converge exponentially fast to zero for all initial conditions. The distinct roles of the inertial and the corresponding body-fixed vectors on the observability of the system are also examined and simulation results are shown that illustrate the performance of the proposed attitude observer in the presence of low-grade sensor specifications. © 2011 Elsevier Ltd. All rights reserved.

KeywordAttitude Algorithms Estimation Algorithms Navigation Systems State Observers Time-varying Systems
DOI10.1016/j.automatica.2011.07.005
URLView the original
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000301213200016
The Source to ArticleScopus
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Citation statistics
Cited Times [WOS]:32   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Univ Tecn Lisboa, Inst Syst & Robot, Inst Super Tecn, P-1049001 Lisbon, Portugal
2.Univ Macau, Fac Sci & Technol, Taipa, Peoples R China
Recommended Citation
GB/T 7714
Batista P.,Silvestre C.,Oliveira P.. A GES attitude observer with single vector observations[J]. Automatica,2012,48(2):388.
APA Batista P.,Silvestre C.,&Oliveira P..(2012).A GES attitude observer with single vector observations.Automatica,48(2),388.
MLA Batista P.,et al."A GES attitude observer with single vector observations".Automatica 48.2(2012):388.
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