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Nonlinear attitude observers on SO(3) for complementary and reciprocal measurements: a theoretical study

Mahony, Robert; Hamel, Tarek; Trumpf, Jochen; Lageman, Christian


This paper considers the question of designing an attitude observer exploiting the structure of the Special Orthogonal Group SO(3) for both inertial and body-fixed-frame measurements. We consider measurements from a minimal sensor suite, typically a rate

CollectionsANU Research Publications
Date published: 2009
Type: Conference paper
Source: Proceedings of IEEE Conference on Decision and Control and Chinese Control Conference 2009
DOI: 10.1109/CDC.2009.5399821


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