A global observer for attitude and gyro biases from vector measurements

Abstract : We consider the classical problem of estimating the attitude and gyro biases of a rigid body from vector measurements and a triaxial rate gyro. We propose a simple “geometry-free” nonlinear observer with guaranteed uniform global asymptotic convergence and local exponential convergence; the stability analysis, which relies on a strict Lyapunov function, is rather simple. The excellent behavior of the observer is illustrated through a detailed numerical simulation.
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Communication dans un congrès
IFAC 2017 Wold Congress, Jul 2017, Toulouse, France. pp.15409-15415
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https://hal-mines-paristech.archives-ouvertes.fr/hal-01636685
Contributeur : François Chaplais <>
Soumis le : jeudi 16 novembre 2017 - 19:35:07
Dernière modification le : samedi 18 novembre 2017 - 01:17:01

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  • HAL Id : hal-01636685, version 1

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Philippe Martin, Ioannis Sarras. A global observer for attitude and gyro biases from vector measurements. IFAC 2017 Wold Congress, Jul 2017, Toulouse, France. pp.15409-15415. 〈hal-01636685〉

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