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A GES attitude observer with single vector observations
Pedro Batista1; Carlos Silvestre1,2; Paulo Oliveira1
2011-12-30
Source PublicationAutomatica
ISSN1873-2836
Volume48Issue:2Pages:388-395
Abstract

This paper proposes a globally exponentially stable (GES) observer for attitude estimation based on a single time-varying reference vector, in inertial coordinates, and corresponding vector, in body-fixed coordinates, in addition to angular velocity readings. The proposed solution is computationally efficient and, in spite of the fact that the observer does not evolve on the Special Orthogonal Group SO(3), an explicit solution on SO(3) is also provided, whose error is shown to converge exponentially fast to zero for all initial conditions. The distinct roles of the inertial and the corresponding body-fixed vectors on the observability of the system are also examined and simulation results are shown that illustrate the performance of the proposed attitude observer in the presence of low-grade sensor specifications.

KeywordAttitude Algorithms State Observers Time-varying Systems Estimation Algorithms Navigation Systems
DOI10.1016/j.automatica.2011.07.005
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000301213200016
PublisherPERGAMON-ELSEVIER SCIENCE LTD, THE BOULEVARD, LANGFORD LANE, KIDLINGTON, OXFORD OX5 1GB, ENGLAND
The Source to ArticleScopus
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Cited Times [WOS]:42   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Corresponding AuthorPedro Batista
Affiliation1.Institute for Systems and Robotics, Instituto Superior Técnico, Technical University of Lisbon, Av.Rovisco Pais,1049-001 Lisboa, Portugal
2.Faculty of Science and Technology, University of Macau, Taipa, Macau
Recommended Citation
GB/T 7714
Pedro Batista,Carlos Silvestre,Paulo Oliveira. A GES attitude observer with single vector observations[J]. Automatica,2011,48(2):388-395.
APA Pedro Batista,Carlos Silvestre,&Paulo Oliveira.(2011).A GES attitude observer with single vector observations.Automatica,48(2),388-395.
MLA Pedro Batista,et al."A GES attitude observer with single vector observations".Automatica 48.2(2011):388-395.
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