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.
https://hal-mines-paristech.archives-ouvertes.fr/hal-01769221
Contributeur : Philippe Martin
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Soumis le : jeudi 19 avril 2018 - 14:28:28
Dernière modification le : lundi 12 novembre 2018 - 11:01:43
Document(s) archivé(s) le : mardi 18 septembre 2018 - 13:46:08
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⟩
