Nonlinear observer for real-time attitude estimation

被引：0

作者：

Guerrero-Sanchez, W. F. ^{[1
]}

Guerrero-Castellanos, J. F. ^{[2
]}

Juarez-Salazar, R. ^{[1
]}

Salmeron-Quiroz, B. B. ^{[3
]}

机构：

[1] BUAP, Fac Ciencias Fis Matemat, Ciudad Univ, Puebla 72570, Mexico

[2] BUAP, Fac Ciencias Elect, Ciudad Univ, Puebla 72570, Mexico

[3] ESIME Azcapotzalco IPN, Mexico City, DF 02550, Mexico

来源：

2009 6TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING, COMPUTING SCIENCE AND AUTOMATION CONTROL (CCE 2009) | 2009年

关键词：

Aerial Robotics; Attitude; MEMS sensors; Nonlinear Observer; SVD;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper deals with the attitude estimation of a rigid body equipped with a module of GAM sensors (rate gyros, accelerometers and magnetometers). A quaternion-based nonlinear observer is proposed in order to fuse all information sources and to obtain an accurate estimation of the attitude. It is shown that the error dynamics can break up into two passive subsystems connected in "feedback". This property is a first and crucial result that could be used to show that the error dynamics is input-to-state stable (ISS) when the measurement disturbance is seen as an input and the error state as the state. The effectiveness of the observer is confirmed in a real-time application.

引用

页码：78 / +

页数：2

共 50 条

[31] Observer Patterns for Real-Time Systems
Andre, Etienne
2013 18TH INTERNATIONAL CONFERENCE ON ENGINEERING OF COMPLEX COMPUTER SYSTEMS (ICECCS), 2013, : 125 - 134
[32] Symmetry preserving nonlinear observer for attitude estimation with magnetometer only
Sabzevari, Sanaz
Arvan, Mohammad Reza
Vali, Ahmad Reza
Dehghan, S. M. Mehdi
Ferdowsi, Mohammad H.
ISA TRANSACTIONS, 2020, 102 : 314 - 324
[33] Real-time estimation of ship's horizontal attitude based on horizon tracking
Zhang, Yueqiang
Liu, Haibo
Su, Ang
Gui, Yang
Shang, Yang
OPTIK, 2015, 126 (23): : 4475 - 4483
[34] Real-Time Attitude-Independent Magnetometer Bias Estimation for Spinning Spacecraft
Soken, Halil Ersin
Sakai, Shin-ichiro
JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 2018, 41 (01) : 276 - 279
[35] Real-time optimal attitude estimation using horizon sensor and magnetometer data
Hill, SM
McCusker, TJ
JOURNAL OF SPACECRAFT AND ROCKETS, 1998, 35 (06) : 778 - 784
[36] Real-Time Error Estimation for Real-Time Motion Prediction
Moore, D.
Sawant, A.
MEDICAL PHYSICS, 2015, 42 (06) : 3711 - 3711
[37] Relaxed Fault Estimation of Discrete-Time Nonlinear System Based on a New Multi-Instant Real-Time Scheduling Fuzzy Observer
Xie, Xiang-Peng
Yue, Dong
Ahn, Choon Ki
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2022, 52 (09): : 5556 - 5566
[38] A Real-time Nonlinear Air Path Observer for Off-Highway Diesel Engines
Harder, Karsten
Buchholz, Michael
Spaeder, Tim
Graichen, Knut
2018 EUROPEAN CONTROL CONFERENCE (ECC), 2018, : 237 - 242
[39] A sleep model and an observer using the Lotka–Volsterra equation for real-time estimation of sleep
Kurihara Y.
Watanabe K.
Tanaka H.
Kurihara, Yosuke (kurihara@ise.aoyama.ac.jp), 1600, Springer Japan (21): : 132 - 139
[40] A novel iterative observer approach for real-time harmonic estimation in power distribution networks
Wang, Yuge
Dong, Zhen
Li, Haiyu
Ding, Zhengtao
IET GENERATION TRANSMISSION & DISTRIBUTION, 2021, 15 (02) : 226 - 236

← 1 2 3 4 5 →