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Globally exponentially stable attitude observer with Earth velocity estimation
Pedro Batista1; Carlos Silvestre1,2; Paulo Oliveira1,3
2019-03-31
Source PublicationAsian Journal of Control
ISSN1561-8625
Volume21Issue:4Pages:1409-1422
Abstract

This paper presents a novel observer for attitude estimation based on a triad of high-grade rate gyros aided by a body-fixed vector measurement of a constant inertial vector, departing from the majority of solutions that consider at least two of these vectors. A cascade approach is proposed, where the first block estimates a vector that is related to the angular velocity of the Earth and a second block estimates the attitude. While the topological characteristics are relaxed in the attitude observer so that global exponential stability is achieved, an additional stage is also devised that yields estimates directly on the special orthogonal group, preserving global convergence of the estimation error. Simulation results with realistic sensor noise were performed, including extensive Monte Carlo runs. These results illustrate the convergence of the proposed solution, as well as the achievable performance and robustness to sensor noise.

KeywordAttitude Earth Angular Velocity Estimation Observers
DOI10.1002/asjc.2056
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaAutomation & Control Systems
WOS SubjectAutomation & Control Systems
WOS IDWOS:000489190400002
Scopus ID2-s2.0-85063621697
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Citation statistics
Cited Times [WOS]:4   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Corresponding AuthorPedro Batista
Affiliation1.Institute for Systems and Robotics,Instituto Superior Técnico,Universidade de Lisboa,Lisboa,Portugal
2.Department of Electrical and Computer Engineering,Faculty of Science and Technology of the University of Macau,Macao
3.Department of Mechanical Engineering,Instituto Superior Técnico,Universidade de Lisboa,Lisboa,Portugal
Recommended Citation
GB/T 7714
Pedro Batista,Carlos Silvestre,Paulo Oliveira. Globally exponentially stable attitude observer with Earth velocity estimation[J]. Asian Journal of Control,2019,21(4):1409-1422.
APA Pedro Batista,Carlos Silvestre,&Paulo Oliveira.(2019).Globally exponentially stable attitude observer with Earth velocity estimation.Asian Journal of Control,21(4),1409-1422.
MLA Pedro Batista,et al."Globally exponentially stable attitude observer with Earth velocity estimation".Asian Journal of Control 21.4(2019):1409-1422.
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