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Conference papers
Global Exponential Attitude and Gyro Bias Estimation from Vector Measurements
Abstract : We consider the classical problem of estimating the attitude and gyro biases of a rigid body from at least two vector measurements and a triaxial rate gyro. We propose a solution based on a dynamic nonlinear estimator designed without respecting the geometry of SO(3), which achieves uniform global exponential convergence. The convergence is established thanks to a dynamically scaled Lyapunov function.
Cited literature [17 references]
https://hal-mines-paristech.archives-ouvertes.fr/hal-01769221
Contributor : Philippe Martin Connect in order to contact the contributor
Submitted on : Thursday, April 19, 2018 - 2:28:28 PM
Last modification on : Wednesday, November 17, 2021 - 12:31:05 PM
Long-term archiving on: : Tuesday, September 18, 2018 - 1:46:08 PM
Contributor : Philippe Martin Connect in order to contact the contributor
Submitted on : Thursday, April 19, 2018 - 2:28:28 PM
Last modification on : Wednesday, November 17, 2021 - 12:31:05 PM
Long-term archiving on: : Tuesday, September 18, 2018 - 1:46:08 PM
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