Global Exponential Attitude and Gyro Bias Estimation 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 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.

Domaines: Mathématiques [math]; Sciences de l'ingénieur [physics]; Automatique / Robotique

Philippe Martin, Ioannis Sarras. Global Exponential Attitude and Gyro Bias Estimation from Vector Measurements. Third International Conference, GSI 2017, Nov 2017, Paris, France. ⟨10.1007/978-3-319-68445-1_40⟩. ⟨hal-01769221⟩