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Nonlinear observer on SO(3) for attitude estimation on rotating earth using single vector measurements
Joel Reis1; Pedro Batista2; Paulo Oliveira2,3; Carlos Silvestre1,4
2018-12-13
Source PublicationIEEE Control Systems Letters
ISSN2475-1456
Volume3Issue:2Pages:392-397
Abstract

This letter presents a novel attitude estimation solution, built on SO(3), that resorts to single measurements of a constant inertial vector, in addition to angular velocity readings provided by a set of three high-grade fiber optic rate gyros, which are assumed to be sensitive to the angular motion of the Earth. This approach contrasts with typical attitude solutions that require either a single but time-varying inertial vector, or measurements of two non-collinear inertial vectors. The designed nonlinear observer features only one tuning scalar parameter that, in view of the region of convergence of the rotation matrix error, is shown to render the proposed solution almost globally asymptotically stable. Extensive simulation results with realistic noise, including Monte Carlo, are presented that allow to assess the achievable performance.

KeywordAttitude Observer Single Body-vector Spherical Rotating Earth Topological Constraints Almost Global Stability
DOI10.1109/LCSYS.2018.2886740
URLView the original
Language英語English
Scopus ID2-s2.0-85058670304
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Cited Times [WOS]:5   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Corresponding AuthorJoel Reis
Affiliation1.Department of Electrical and Computer Engineering, University of Macau, Macau, China
2.Institute for Systems and Robotics, Instituto Superior Técnico, Universidade de Lisboa, Lisbon, Portugal
3.LAETA–Associated Laboratory for Energy, Transports and Aeronautics, IDMEC–Institute of Mechanical Engineering, Instituto Superior Técnico, Universidade de Lisboa, Lisbon, Portugal
4.Instituto Superior Técnico, Universidade de Lisboa, Lisbon, Portugal
First Author AffilicationUniversity of Macau
Corresponding Author AffilicationUniversity of Macau
Recommended Citation
GB/T 7714
Joel Reis,Pedro Batista,Paulo Oliveira,et al. Nonlinear observer on SO(3) for attitude estimation on rotating earth using single vector measurements[J]. IEEE Control Systems Letters,2018,3(2):392-397.
APA Joel Reis,Pedro Batista,Paulo Oliveira,&Carlos Silvestre.(2018).Nonlinear observer on SO(3) for attitude estimation on rotating earth using single vector measurements.IEEE Control Systems Letters,3(2),392-397.
MLA Joel Reis,et al."Nonlinear observer on SO(3) for attitude estimation on rotating earth using single vector measurements".IEEE Control Systems Letters 3.2(2018):392-397.
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