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Recursive attitude estimation in the presence of multi-rate and multi-delay vector measurements

Khosravian Hemami, Alireza; Trumpf, Jochen; Mahony, Robert; Hamel, Tarek


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]

CollectionsANU Research Publications
Date published: 2015
Type: Conference paper
Source: Proceedings of the American Control Conference
DOI: 10.1109/ACC.2015.7171825


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