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Attitude estimation using high-grade gyroscopes
Joel Reis1; Pedro Batista2; Paulo Oliveira2,3; Carlos Silvestre1
Source PublicationControl Engineering Practice

This paper addresses the problem of attitude estimation using the angular velocity of Earth as a reference vector. A nonlinear observer is proposed that evolves on the special orthogonal group and is aided by angular velocity readings containing implicit measurements of the Earth's spin. Additionally, the observer resorts to body-fixed measurements of one constant inertial reference vector. The observer's sole tuning parameter, shaped as a matrix gain, is computed from a time-varying Kalman filter strategically applied to a uniformly observable linear time-invariant system, which is obtained from the linearized rotation matrix error dynamics. The nonlinear observer is proved to be locally exponentially stable but, most noticeably, in spite of this local-based inception, a Monte Carlo simulation analysis demonstrates the good properties of the observer in terms of convergence rate, tuning capability, and large basin of attraction. Furthermore, extensive experimental results confirm the properties of the proposed technique and validate its usage in real world applications.

KeywordAttitude Observer Earth Angular Rotation Inertial Reference Vector Kalman Filter Special Orthogonal Group
URLView the original
Indexed BySCIE
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000491640300004
Scopus ID2-s2.0-85071553540
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Cited Times [WOS]:1   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
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
Recommended Citation
GB/T 7714
Joel Reis,Pedro Batista,Paulo Oliveira,et al. Attitude estimation using high-grade gyroscopes[J]. Control Engineering Practice,2019,92.
APA Joel Reis,Pedro Batista,Paulo Oliveira,&Carlos Silvestre.(2019).Attitude estimation using high-grade gyroscopes.Control Engineering Practice,92.
MLA Joel Reis,et al."Attitude estimation using high-grade gyroscopes".Control Engineering Practice 92(2019).
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