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Non-linear complementary filters on the special orthogonal group

Mahony, Robert; Hamel, Tarek; Pflimlin, Jean-Michel


This paper considers the problem of obtaining good attitude estimates from measurements obtained from typical low cost inertial measurement units. The outputs of such systems are characterized by high noise levels and time varying additive biases. We formulate the filtering problem as deterministic observer kinematics posed directly on the special orthogonal group SO(3) driven by reconstructed attitude and angular velocity measurements. Lyapunov analysis results for the proposed observers are...[Show more]

CollectionsANU Research Publications
Date published: 2008
Type: Journal article
Source: IEEE Transactions on Automatic Control
DOI: 10.1109/tac.2008.923738


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