文章基本信息

标题：A global observer for attitude and gyro biases from vector measurements
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作者：Philippe Martin ; Ioannis Sarras
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：15409-15415
DOI：10.1016/j.ifacol.2017.08.1868
语种：English
出版社：Elsevier
摘要：AbstractWe consider the classical problem of estimating the attitude and gyro biases of a rigid body from vector measurements and a triaxial rate gyro. We propose a simple “geometry-free” nonlinear observer with guaranteed uniform global asymptotic convergence and local exponential convergence; the stability analysis, which relies on a strict Lyapunov function, is rather simple. The excellent behavior of the observer is illustrated through a detailed numerical simulation.
关键词：KeywordsAttitude estimationnonlinear observerguidancenavigation systems