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The variational attitude estimator in the presence of bias in angular velocity measurements
Maziar Izadi1; Sasi P. Viswanathan2; Amit Sanyal2; Carlos Silvestre3; Paulo Oliveira4
2016-08-01
Conference Name2016 American Control Conference (ACC)
Source PublicationProceedings of the American Control Conference
Volume2016-July
Pages4065-4070
Conference DateJUL 06-08, 2016
Conference PlaceBoston, MA, USA
PublisherIEEE, 345 E 47TH ST, NEW YORK, NY 10017 USA
Abstract

Estimation of rigid body attitude motion is a long-standing problem of interest in several applications. This problem is challenging primarily because rigid body motion is described by nonlinear dynamics and the state space is nonlinear. The extended Kalman filter and its several variants have remained the standard and most commonly used schemes for attitude estimation over the last several decades. These schemes are obtained as approximate solutions to the nonlinear optimal filtering problem. However, these approximate or near optimal solutions may not give stable estimation schemes in general. The variational attitude estimator was introduced recently to fill this gap in stable estimation of arbitrary rigid body attitude motion in the presence of uncertainties in initial state and unknown measurement noise. This estimator is obtained by applying the Lagrange-d'Alembert principle of variational mechanics to a Lagrangian constructed from residuals between measurements and state estimates with a dissipation term that is linear in the angular velocity measurement residual. In this work, the variational attitude estimator is generalized to include angular velocity measurements that have a constant bias in addition to measurement noise. The state estimates converge to true states almost globally over the state space. Further, the bias estimates converge to the true bias once the state estimates converge to the true states.

DOI10.1109/ACC.2016.7525560
URLView the original
Indexed ByCPCI-S
Language英語English
WOS Research AreaAutomation & Control Systems
WOS SubjectAutomation & Control Systems
WOS IDWOS:000388376104022
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Cited Times [WOS]:3   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
CollectionUniversity of Macau
Corresponding AuthorAmit Sanyal
Affiliation1.Department of Aerospace Engineering, Texas A&M University, TX
2.Department of Mechanical & Aerospace Engineering, Syracuse University, Syracuse, NY
3.Faculty of Science and Technology, University of Macau, China
4.ISR - LARSyS - IST - ULisboa, Lisbon, Portugal
Recommended Citation
GB/T 7714
Maziar Izadi,Sasi P. Viswanathan,Amit Sanyal,et al. The variational attitude estimator in the presence of bias in angular velocity measurements[C]:IEEE, 345 E 47TH ST, NEW YORK, NY 10017 USA,2016:4065-4070.
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