UM
Status已發表Published
Affiliated with RCfalse
Attitude, body-fixed Earth rotation rate, and sensor bias estimation using single observations of direction of gravitational field
Joel Reis1; Pedro Batista2; Paulo Oliveira2,3; Carlos Silvestre1,2
2021-01-12
Source PublicationAutomatica
ISSN0005-1098
Volume125
Abstract

This paper addresses the problem of estimating the attitude of a robotic platform using biased measurements of: (i) the direction of the gravitational field and (ii) angular velocity obtained from a set of high-grade gyroscopes sensitive to the Earth's rotation. A cascade solution is proposed that features a Kalman filter (KF) tied to a rotation matrix observer built on the special orthogonal group of order 3. The KF, whose model stems from a uniformly observable linear time-varying system, yields estimates of: (i) the Earth's total rotational rate; (ii) two sensor biases associated with the aforementioned measurements; and, (iii) noise-filtered and bias-corrected accelerometer data. All estimates are expressed in the platform's body-fixed frame. In turn, the attitude observer put forward is shown to be almost globally asymptotically stable, in particular locally input-to-state stable with respect to the KF errors. Experimental results are showcased that successfully demonstrate the efficiency of the proposed attitude estimation solution.

KeywordNonlinear Observer And Filter Design Guidance Navigation And Control
DOI10.1016/j.automatica.2020.109475
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000647691500007
PublisherPERGAMON-ELSEVIER SCIENCE LTD, THE BOULEVARD, LANGFORD LANE, KIDLINGTON, OXFORD OX5 1GB, ENGLAND
Fulltext Access
Citation statistics
Cited Times [WOS]:0   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Corresponding AuthorCarlos Silvestre
Affiliation1.Faculty of Science and Technology, University of Macau, Taipa, Macao
2.Institute for Systems and Robotics,Instituto Superior Técnico,Universidade de Lisboa,Lisboa,1049-001,Portugal
3.LAETA—Associated Laboratory for Energy,Transports and Aeronautics,IDMEC—Institute of Mechanical Engineering,Instituto Superior Técnico,Universidade de Lisboa,Lisboa,1049-001,Portugal
First Author AffilicationFaculty of Science and Technology
Corresponding Author AffilicationFaculty of Science and Technology
Recommended Citation
GB/T 7714
Joel Reis,Pedro Batista,Paulo Oliveira,et al. Attitude, body-fixed Earth rotation rate, and sensor bias estimation using single observations of direction of gravitational field[J]. Automatica,2021,125.
APA Joel Reis,Pedro Batista,Paulo Oliveira,&Carlos Silvestre.(2021).Attitude, body-fixed Earth rotation rate, and sensor bias estimation using single observations of direction of gravitational field.Automatica,125.
MLA Joel Reis,et al."Attitude, body-fixed Earth rotation rate, and sensor bias estimation using single observations of direction of gravitational field".Automatica 125(2021).
Files in This Item:
There are no files associated with this item.
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Joel Reis]'s Articles
[Pedro Batista]'s Articles
[Paulo Oliveira]'s Articles
Baidu academic
Similar articles in Baidu academic
[Joel Reis]'s Articles
[Pedro Batista]'s Articles
[Paulo Oliveira]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Joel Reis]'s Articles
[Pedro Batista]'s Articles
[Paulo Oliveira]'s Articles
Terms of Use
No data!
Social Bookmark/Share
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.