Skip navigation
Skip navigation

Non-linear complementary filters on the special orthogonal group

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

Description

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
URI: http://hdl.handle.net/1885/26479
Source: IEEE Transactions on Automatic Control
DOI: 10.1109/tac.2008.923738

Download

File Description SizeFormat Image
01_Mahony_Non-linear_complementary_2008.pdf937.31 kBAdobe PDF    Request a copy


Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.

Updated:  12 November 2018/ Responsible Officer:  University Librarian/ Page Contact:  Library Systems & Web Coordinator