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Attitude observer on the special orthogonal group with Earth velocity estimation
Pedro Batista1; Carlos Silvestre2; Paulo Oliveira3
2019-03-20
Source PublicationSystems and Control Letters
ISSN0167-6911
Volume126Pages:33-39
Abstract

This paper proposes a new nonlinear attitude observer based on high-grade rate gyros and single body-fixed vector measurements of a constant inertial vector, in contrast with typical solutions that require two of these vectors. The structure is cascaded, where in the first block a vector that is related to the angular velocity of the Earth is estimated and in the second block the attitude itself is obtained. The attitude is directly estimated on the special orthogonal group and the estimation error is shown to converge to zero, with a region of convergence that is best described as semi-global, with local exponential convergence. Simulation results illustrate the achievable performance of the proposed solution and the robustness to sensor noise.

KeywordAttitude Algorithms Estimation Algorithms Navigation Systems Nonlinear Systems State Observers
DOI10.1016/j.sysconle.2019.03.001
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaAutomation & Control Systems ; Operations Research & Management Science
WOS SubjectAutomation & Control Systems ; Operations Research & Management Science
WOS IDWOS:000465056800005
Scopus ID2-s2.0-85063084084
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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,LARSyS,Instituto Superior Técnico,Universidade de Lisboa,Portugal
2.Department of Electrical and Computer Engineering,Faculty of Science and Technology,University of Macau,Macao
3.Institute for Systems and Robotics,LARSyS,Institute of Mechanical Engineering,LAETA,Universidade de Lisboa,Portugal
Recommended Citation
GB/T 7714
Pedro Batista,Carlos Silvestre,Paulo Oliveira. Attitude observer on the special orthogonal group with Earth velocity estimation[J]. Systems and Control Letters,2019,126:33-39.
APA Pedro Batista,Carlos Silvestre,&Paulo Oliveira.(2019).Attitude observer on the special orthogonal group with Earth velocity estimation.Systems and Control Letters,126,33-39.
MLA Pedro Batista,et al."Attitude observer on the special orthogonal group with Earth velocity estimation".Systems and Control Letters 126(2019):33-39.
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