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Communication Dans Un Congrès Année : 2008

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

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Résumé

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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Dates et versions

hal-00495953 , version 1 (29-06-2010)

Identifiants

  • HAL Id : hal-00495953 , version 1

Citer

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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