Recursive attitude estimation in the presence of multi-rate and multi-delay vector measurements
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Khosravian Hemami, Alireza; Trumpf, Jochen; Mahony, Robert; Hamel, Tarek
Description
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]
Collections | ANU Research Publications |
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Date published: | 2015 |
Type: | Conference paper |
URI: | http://hdl.handle.net/1885/102765 |
Source: | Proceedings of the American Control Conference |
DOI: | 10.1109/ACC.2015.7171825 |
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01_Khosravian+Hemami_Recursive_attitude_estimation_2015.pdf | 645.23 kB | Adobe PDF | Request a copy |
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