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Communication dans un congrès
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.
https://hal-mines-paristech.archives-ouvertes.fr/hal-00495953
Contributeur : François Chaplais <>
Soumis le : mardi 29 juin 2010 - 11:35:41
Dernière modification le : jeudi 24 septembre 2020 - 17:04:18
Contributeur : François Chaplais <>
Soumis le : mardi 29 juin 2010 - 11:35:41
Dernière modification le : jeudi 24 septembre 2020 - 17:04:18