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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.
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https://hal-mines-paristech.archives-ouvertes.fr/hal-01769221
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Submitted on : Thursday, April 19, 2018 - 2:28:28 PM
Last modification on : Thursday, September 24, 2020 - 5:04:18 PM
Long-term archiving on: : Tuesday, September 18, 2018 - 1:46:08 PM

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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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