Design and Implementation of a Low-Cost Aided Attitude and Heading Reference System - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2008

Design and Implementation of a Low-Cost Aided Attitude and Heading Reference System

(1) , (1)
1

Résumé

In this paper we propose a nonlinear observer (i.e. a “filter”) to estimate the position and velocity vectors and the orientation of a flying rigid body, using measurements from low-cost Earth-fixed position and velocity, inertial and magnetic sensors. It has by design a nice geometrical structure appealing from an engineering viewpoint; it is easy to tune, computationally very economic, and with guaranteed (at least local) convergence around every “smooth” trajectory. Moreover, it sensibly behaves in the presence of magnetic disturbances. We illustrate its good performance on experimental comparisons with a commercial system, and demonstrate its simplicity by implementing it on an 8-bit microcontroller.
Fichier non déposé

Dates et versions

hal-00495869 , version 1 (29-06-2010)

Identifiants

  • HAL Id : hal-00495869 , version 1

Citer

Philippe Martin, Erwan Salaün. Design and Implementation of a Low-Cost Aided Attitude and Heading Reference System. 2008 AIAA Guidance, Navigation and Control Conference and Exhibit, Aug 2008, Honolulu, United States. pp.AIAA-2008-7169. ⟨hal-00495869⟩
66 Consultations
0 Téléchargements

Partager

Gmail Facebook Twitter LinkedIn More