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Nonlinear attitude observer based on range and inertial measurements
Sérgio Brás1; Rita Cunha1; Carlos Jorge Silvestre1,2; Paulo Jorge Oliveira1
2012-09-25
Source PublicationIEEE Transactions on Control Systems Technology
ISSN1063-6536
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.

KeywordAttitude Estimation Lyapunov Method Nonlinear Systems Observers
DOI10.1109/TCST.2012.2213821
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000323512300031
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Cited Times [WOS]:5   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Corresponding AuthorSérgio Brás
Affiliation1.Laboratory of Robotics and Systems in Engineering and Science, Instituto Superior Técnico, Universidade Técnica de Lisboa, Lisbon 1049-001, Portugal
2.Department of Electrical and Computer Engineering, Faculty of Science and Technology, University of Macau, Taipa, China
Recommended Citation
GB/T 7714
Sérgio Brás,Rita Cunha,Carlos Jorge Silvestre,et al. Nonlinear attitude observer based on range and inertial measurements[J]. IEEE Transactions on Control Systems Technology,2012,21(5):1889-1897.
APA Sérgio Brás,Rita Cunha,Carlos Jorge Silvestre,&Paulo Jorge Oliveira.(2012).Nonlinear attitude observer based on range and inertial measurements.IEEE Transactions on Control Systems Technology,21(5),1889-1897.
MLA Sérgio Brás,et al."Nonlinear attitude observer based on range and inertial measurements".IEEE Transactions on Control Systems Technology 21.5(2012):1889-1897.
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