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An Invariant Observer for Earth-Velocity-Aided Attitude Heading Reference Systems

Abstract : In this paper we propose an invariant nonlinear observer (i.e. a “filter”) for estimating the velocity vector and orientation of a flying rigid body, using measurements from low-cost Earth-fixed velocity, inertial and magnetic sensors. It has a nice geometric structure which respects meaningful physical symmetries of the system. It can be seen as an easier-to-tune and computationally much simpler alternative to an Extended Kalman Filter.
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https://hal-mines-paristech.archives-ouvertes.fr/hal-00495953
Contributor : François Chaplais <>
Submitted on : Tuesday, June 29, 2010 - 11:35:41 AM
Last modification on : Thursday, September 24, 2020 - 5:04:18 PM

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  • HAL Id : hal-00495953, version 1

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Philippe Martin, Erwan Salaün. An Invariant Observer for Earth-Velocity-Aided Attitude Heading Reference Systems. 17th World Congress The International Federation of Automatic Control, Jul 2008, Seoul, South Korea. pp.9857-9864. ⟨hal-00495953⟩

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