Nonlinear Observer on SO(3) for Attitude Estimation on Rotating, Earth using Single Vector Measurements

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Status	已發表Published
	Nonlinear Observer on SO(3) for Attitude Estimation on Rotating, Earth using Single Vector Measurements
	Reis, J; Batista, P; Oliveira, P; Silvestre, C
	2019-04-01
Source Publication	IEEE Control Systems Letters
ISSN	2475-1456
Pages	392-397
Abstract	This paper presents a novel attitude estimation solution, built on SO(3), that resorts to single measurements of a constant inertial vector, in addition to angular velocity readings provided by a set of three high-grade fiber optic rate gyros, which are assumed to be sensitive to the angular motion of the Earth. This approach contrasts with typical attitude solutions that require either a single but time-varying inertial vector, or measurements of two non-collinear inertial vectors. The designed nonlinear observer features only one tuning scalar parameter that, in view of the region of convergence of the rotation matrix error, is shown to render the proposed solution almost globally asymptotically stable. Extensive simulation results with realistic noise, including Monte Carlo, are presented that allow to assess the achievable performance.
Keyword	Attitude Observer Single Body-Vector Spherical Rotating Earth Topological Constraints Almost Global Stability.
Language	英語English
The Source to Article	PB_Publication
PUB ID	42628
Document Type	Journal article
Collection	DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Recommended Citation GB/T 7714	Reis, J,Batista, P,Oliveira, P,et al. Nonlinear Observer on SO(3) for Attitude Estimation on Rotating, Earth using Single Vector Measurements[J]. IEEE Control Systems Letters, 2019, 392-397.
APA	Reis, J., Batista, P., Oliveira, P., & Silvestre, C (2019). Nonlinear Observer on SO(3) for Attitude Estimation on Rotating, Earth using Single Vector Measurements. IEEE Control Systems Letters, 392-397.
MLA	Reis, J,et al."Nonlinear Observer on SO(3) for Attitude Estimation on Rotating, Earth using Single Vector Measurements".IEEE Control Systems Letters (2019):392-397.

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