Global Exponential Attitude and Gyro Bias Estimation from Vector Measurements
Authors: Philippe Martin, Ioannis Sarras GSI 2017,International Conference on Geometric Science of Information, pp. 345-351
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We consider the classical problem of estimating the attitude and gyro biases of a rigid body from at least two vector measurements and a triaxial rate gyro. We propose a solution based on a dynamic nonlinear estimator designed without respecting the geometry of SO(3), which achieves uniform global exponential convergence. The convergence is established thanks to a dynamically scaled Lyapunov function.
BibTeX
@Proceedings{,
author = {Philippe Martin, Ioannis Sarras},
title = {Global Exponential Attitude and Gyro Bias Estimation from Vector Measurements},
booktitle = {Global Exponential Attitude and Gyro Bias Estimation from Vector Measurements},
address = {Paris},
pages = {345-351},
year = {2017},
abstract = {We consider the classical problem of estimating the attitude and gyro biases of a rigid body from at least two vector measurements and a triaxial rate gyro. We propose a solution based on a dynamic nonlinear estimator designed without respecting the geometry of SO(3), which achieves uniform global exponential convergence. The convergence is established thanks to a dynamically scaled Lyapunov function.}, }
Download PDF
We consider the classical problem of estimating the attitude and gyro biases of a rigid body from at least two vector measurements and a triaxial rate gyro. We propose a solution based on a dynamic nonlinear estimator designed without respecting the geometry of SO(3), which achieves uniform global exponential convergence. The convergence is established thanks to a dynamically scaled Lyapunov function.
BibTeX
@Proceedings{,
author = {Philippe Martin, Ioannis Sarras},
title = {Global Exponential Attitude and Gyro Bias Estimation from Vector Measurements},
booktitle = {Global Exponential Attitude and Gyro Bias Estimation from Vector Measurements},
address = {Paris},
pages = {345-351},
year = {2017},
abstract = {We consider the classical problem of estimating the attitude and gyro biases of a rigid body from at least two vector measurements and a triaxial rate gyro. We propose a solution based on a dynamic nonlinear estimator designed without respecting the geometry of SO(3), which achieves uniform global exponential convergence. The convergence is established thanks to a dynamically scaled Lyapunov function.}, }