Recursive attitude estimation in the presence of multi-rate and multi-delay vector measurements
This paper proposes an attitude estimation methodology for the case where attitude sensors provide discrete-time samples of vector measurements at different sample rates and with time delays. The proposed methodology is based on a cascade combination of an output predictor and an attitude observer or filter. The predictor compensates for the effect of sampling and delays in vector measurements and provides continuous-time predictions of outputs. These predictions are then used in an observer or...[Show more]
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|Source:||Proceedings of the American Control Conference|
|01_Khosravian+Hemami_Recursive_attitude_estimation_2015.pdf||645.23 kB||Adobe PDF||Request a copy|
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