MINES ParisTech CAS - Centre automatique et systèmes

A global observer for attitude and gyro biases from vector measurements

Authors: Philippe Martin, Ioannis Sarras, proc. of the IFAC 2017 Wold Congress, pp. 15409-15415, 2017, Toulouse.
Download PDF
We consider the classical problem of estimating the attitude and gyro biases of a rigid body from vector measurements and a triaxial rate gyro. We propose a simple “geometry-free” nonlinear observer with guaranteed uniform global asymptotic convergence and local exponential convergence; the stability analysis, which relies on a strict Lyapunov function, is rather simple. The excellent behavior of the observer is illustrated through a detailed numerical simulation.
BibTeX:
@Proceedings{2017-11-16,
author = {Philippe Martin, Ioannis Sarras},
editor = {},
title = {A global observer for attitude and gyro biases from vector measurements},
booktitle = {IFAC 2017 Wold Congress},
volume = {},
publisher = {},
address = {Toulouse},
pages = {15409-15415},
year = {2017},
abstract = {We consider the classical problem of estimating the attitude and gyro biases of a rigid body from vector measurements and a triaxial rate gyro. We propose a simple “geometry-free” nonlinear observer with guaranteed uniform global asymptotic convergence and local exponential convergence; the stability analysis, which relies on a strict Lyapunov function, is rather simple. The excellent behavior of the observer is illustrated through a detailed numerical simulation.},
keywords = {}}
= "r";var _rwObsfuscatedHref = _rwObsfuscatedHref0+_rwObsfuscatedHref1+_rwObsfuscatedHref2+_rwObsfuscatedHref3+_rwObsfuscatedHref4+_rwObsfuscatedHref5+_rwObsfuscatedHref6+_rwObsfuscatedHref7+_rwObsfuscatedHref8+_rwObsfuscatedHref9+_rwObsfuscatedHref10+_rwObsfuscatedHref11+_rwObsfuscatedHref12+_rwObsfuscatedHref13+_rwObsfuscatedHref14; document.getElementById("rw_email_contact").href = _rwObsfuscatedHref;