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Kalman Filter Cascade for Attitude Estimation on Rotating Earth
Joel Reis1; Pedro Batista2; Paulo Oliveira2,3,4; Carlos Silvestre1,4
2019-12-11
Source PublicationIEEE/ASME Transactions on Mechatronics
ISSN1083-4435
Volume25Issue:1Pages:327-338
Abstract

This article presents a discrete-time attitude estimation solution based on a cascade of two linear time-varying Kalman filters (KFs). Under mild assumptions, the cascade's first KF resorts to body-fixed measurements of angular velocity and of a constant inertial vector to yield an estimate of Earth's angular velocity. The latter, in addition to all previous measurements, is fed to the second KF to obtain an estimate of the rotation matrix. Although topological constructions are lifted, a last-step projection operator is employed that maps the final rotation matrix estimate onto SO(3). Briefly, two linear time-varying systems are designed, with no linearizations whatsoever, that are shown to be uniformly completely observable, thus rendering the overall solution globally exponentially stable. Simulation results are presented that allow to assess the performance of the cascaded KF duo. A set of experimental results is also presented that validates the efficiency of the proposed solution and deems it a suitable attitude estimation choice for applications where only one body-vector measurement is available.

KeywordAttitude Estimation Earth Angular Velocity High-grade Rate Gyros Kalman Filter Uniform Complete Observability
DOI10.1109/TMECH.2019.2959080
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS IDWOS:000519587000031
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 445 HOES LANE, PISCATAWAY, NJ 08855-4141 USA
Scopus ID2-s2.0-85076443463
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Citation statistics
Cited Times [WOS]:2   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Corresponding AuthorJoel Reis
Affiliation1.Faculty of Science and Technology, University of Macau, Taipa, Macau
2.Institute for Systems and Robotics, Universidade de Lisboa, Lisboa, Portugal
3.LAETA – Associated Laboratory for Energy, Transports and Aeronautics, IDMEC – Institute of Mechanical Engineering,
4.Instituto Superior Técnico, Universidade de Lisboa, Lisboa, 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. Kalman Filter Cascade for Attitude Estimation on Rotating Earth[J]. IEEE/ASME Transactions on Mechatronics,2019,25(1):327-338.
APA Joel Reis,Pedro Batista,Paulo Oliveira,&Carlos Silvestre.(2019).Kalman Filter Cascade for Attitude Estimation on Rotating Earth.IEEE/ASME Transactions on Mechatronics,25(1),327-338.
MLA Joel Reis,et al."Kalman Filter Cascade for Attitude Estimation on Rotating Earth".IEEE/ASME Transactions on Mechatronics 25.1(2019):327-338.
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