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Global Exponential Attitude and Gyro Bias Estimation from Vector Measurements

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Résumé

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.
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Dates et versions

hal-01769221 , version 1 (19-04-2018)

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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⟩
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