Angular Velocity Nonlinear Observer From Single Vector Measurements
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Publication:2980392
DOI10.1109/TAC.2015.2501358zbMATH Open1359.93066arXiv1503.03062MaRDI QIDQ2980392FDOQ2980392
Authors: Lionel Magnis, Nicolas Petit 
Publication date: 3 May 2017
Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)
Abstract: The paper proposes a technique to estimate the angular velocity of a rigid body from single vector measurements. Compared to the approaches presented in the literature, it does not use attitude information nor rate gyros as inputs. Instead, vector measurements are directly filtered through a nonlinear observer estimating the angular velocity. Convergence is established using a detailed analysis of a linear-time varying dynamics appearing in the estimation error equation. This equation stems from the classic Euler equations and measurement equations. As is proven, the case of free-rotation allows one to relax the persistence of excitation assumption. Simulation results are provided to illustrate the method.
Full work available at URL: https://arxiv.org/abs/1503.03062
Cited In (5)
- Dynamic characteristics of a beam angular-rate sensor
- Event-triggered attitude synchronization of multiple rigid body systems with velocity-free measurements
- Angular and linear velocity observer design using vector and landmark measurements
- Angular velocity observer design using vector measurements with application to attitude tracking
- Title not available (Why is that?)
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