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Globally exponentially stable cascade observers for attitude estimation
Batista P.1; Silvestre C.1,2; Oliveira P.1
2012
Source PublicationControl Engineering Practice
ISSN9670661
Volume20Issue:2Pages:148
Abstract

This paper presents the design, analysis, and performance evaluation of a novel cascade observer for attitude estimation. A sensor-based observer, which resorts to rate gyro readings and a set of vector observations, estimates the rate gyro bias. Afterwards, a cascaded observer explicitly estimates the attitude in the form of a rotation matrix based on the rate gyro measurements, the vector observations, and the estimated gyro bias. The overall error dynamics are globally exponentially stable and the proposed system is computationally efficient. Finally, the resulting estimator is successfully evaluated, in simulation and experimentally, with ground truth data in both cases. © 2011 Elsevier Ltd.

KeywordAttitude Algorithms Estimation Navigation Systems Observability Observers
DOI10.1016/j.conengprac.2011.10.005
URLView the original
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000299987600006
The Source to ArticleScopus
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Citation statistics
Cited Times [WOS]:28   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Univ Tecn Lisboa, Inst Super Tecn, Inst Syst & Robot, P-1049001 Lisbon, Portugal
2.Univ Macau, Fac Sci & Technol, Taipa, Macau, Peoples R China
Recommended Citation
GB/T 7714
Batista P.,Silvestre C.,Oliveira P.. Globally exponentially stable cascade observers for attitude estimation[J]. Control Engineering Practice,2012,20(2):148.
APA Batista P.,Silvestre C.,&Oliveira P..(2012).Globally exponentially stable cascade observers for attitude estimation.Control Engineering Practice,20(2),148.
MLA Batista P.,et al."Globally exponentially stable cascade observers for attitude estimation".Control Engineering Practice 20.2(2012):148.
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