Attitude Estimation in SO(3): A Comparative Case Study

被引：0
|
作者：
Figueiroa, Miguel [1 ]
Moutinho, Alexandra [2 ]
Azinheira, Jose Raul [2 ]
机构：
[1] Univ Lisbon, Inst Super Tecn, Inst Super Tecn Lisboa, Av Rovisco Pais, P-1049001 Lisbon, Portugal
[2] Univ Lisboa Rovisco Pais, Inst Super Tecn, IDMEC LAETA, P-1049001 Lisbon, Portugal
来源：
2014 IEEE INTERNATIONAL CONFERENCE ON AUTONOMOUS ROBOT SYSTEMS AND COMPETITIONS (ICARSC) | 2014年
关键词：
Attitude Estimation; Nonlinear Observer; Lyapunov Observer; KALMAN FILTER; UAV;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper introduces a novel algorithm to obtain attitude estimations from low cost 9 Degree of Freedom Inertial Measurement Units. This nonlinear attitude estimator is formulated in the Special Orthogonal Group SO(3) based on the Lyapunov theory. The performance of the proposed estimator is compared to current commonly used methods, namely the Extended Kalman Filter and two other nonlinear estimators in SO(3), in computer simulations for a quadrotor Unmanned Aerial Vehicle.
引用
收藏
页码：79 / 84
页数：6
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