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Nonlinear Attitude Observer on SO(3) Based on Single Body-Vector Measurements
Joel Reis1; Pedro Batista2; Paulo Oliveira2; Carlos Silvestre1
2018-10-29
Conference NameControl Technology and Applications (CCTA)
Source Publication2018 IEEE Conference on Control Technology and Applications, CCTA 2018
Pages1319-1324
Conference Date21-24 Aug. 2018
Conference PlaceCopenhagen, Denmark
Abstract

This 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
Indexed ByCPCI-S
Language英語English
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000461414700208
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Cited Times [WOS]:3   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
CollectionUniversity of Macau
Affiliation1.Faculty of Science and Technology, University of Macau, Taipa, Macao
2.Institute for Systems and Robotics, Universidade de Lisboa, Lisboa, Portugal
First Author AffilicationFaculty of Science and Technology
Recommended Citation
GB/T 7714
Joel Reis,Pedro Batista,Paulo Oliveira,et al. Nonlinear Attitude Observer on SO(3) Based on Single Body-Vector Measurements[C],2018:1319-1324.
APA Joel Reis,Pedro Batista,Paulo Oliveira,&Carlos Silvestre.(2018).Nonlinear Attitude Observer on SO(3) Based on Single Body-Vector Measurements.2018 IEEE Conference on Control Technology and Applications, CCTA 2018,1319-1324.
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