Nonlinear attitude observers on SO(3) for complementary and reciprocal measurements: a theoretical study
Date
2009
Authors
Mahony, Robert
Hamel, Tarek
Trumpf, Jochen
Lageman, Christian
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Institute of Electrical and Electronics Engineers (IEEE Inc)
Abstract
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
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Keywords
Keywords: Asymptotically stable; Observer errors; Sensor suite; Single vectors; Special orthogonal group; Stability analysis; Theoretical study; Vector measurements; Gyroscopes
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Proceedings of IEEE Conference on Decision and Control and Chinese Control Conference 2009
Type
Conference paper
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2037-12-31
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