Skip to Main content Skip to Navigation
Journal articles

Angular velocity nonlinear observer from vector measurements

Abstract : This paper proposes a technique to estimate the angular velocity of a rigid body from vector measurements. Compared to the approaches presented in the literature, it does not use attitude information nor rate gyros as inputs. Instead, vector measurements are directly filtered through a nonlinear observer estimating the angular velocity. Convergence is established using a detailed analysis of the linear-time varying dynamics appearing in the estimation error equation. This equation stems from the classic Euler equations and measurement equations. A high gain design allows to establish local uniform exponential convergence. Simulation results are provided to illustrate the method.
Document type :
Journal articles
Complete list of metadatas

https://hal-mines-paristech.archives-ouvertes.fr/hal-01443998
Contributor : François Chaplais <>
Submitted on : Monday, January 23, 2017 - 3:42:41 PM
Last modification on : Thursday, September 24, 2020 - 5:04:18 PM

Links full text

Identifiers

Citation

Lionel Magnis, Nicolas Petit. Angular velocity nonlinear observer from vector measurements. Automatica, Elsevier, 2017, 75, pp.46-53. ⟨10.1016/j.automatica.2016.09.027⟩. ⟨hal-01443998⟩

Share

Metrics

Record views

246