A global observer for attitude and gyro biases from vector measurements

Philippe Martin (1) , Ioannis Sarras (1)

1 CAS - Centre Automatique et Systèmes

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.

Domaines: Automatique / Robotique

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, ⟨10.1016/j.ifacol.2017.08.1868⟩. ⟨hal-01636685⟩