Stability analysis of velocity-aided attitude observers for accelerated vehicles

DOI10.1016/J.AUTOMATICA.2015.10.014zbMATH Open1329.93038arXiv1411.3953OpenAlexW2144866489MaRDI QIDQ901162FDOQ901162

Authors: Minh-Duc Hua, Philippe Martin, Tarek Hamel 

Publication date: 23 December 2015

Published in: Automatica (Search for Journal in Brave)

Abstract: Two nonlinear observers for velocity-aided attitude estimation, relying on gyrometers, accelerometers, magnetometers, and velocity measured in the body-fixed frame, are proposed. As opposed to state-of-the-art body-fixed velocity-aided attitude observers endowed with local properties, both observers are (almost) globally asymptotically stable, with very simple and flexible tuning. Moreover, the roll and pitch estimates are globally decoupled from magnetometer measurements.

Full work available at URL: https://arxiv.org/abs/1411.3953

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zbMATH Keywords

attitude estimationnonlinear observeraccelerated motionvelocity-aided attitude observer

Mathematics Subject Classification ID

Observability (93B07) Application models in control theory (93C95) Stability of control systems (93D99)

Cites Work

• Nonlinear Complementary Filters on the Special Orthogonal Group
• Symmetry-Preserving Observers
• A topological obstruction to continuous global stabilization of rotational motion and the unwinding phenomenon

Cited In (2)

• Attitude observers for accelerated vehicles without accelerometer measurements
• Pitot tube measure-aided air velocity and attitude estimation in GNSS denied environment

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