Attitude estimation on SO(3) based on direct inertial measurements
This paper considers the question of obtaining high quality attitude estimates from typical low cost inertial measurement units for applications in control of unmanned aerial vehicles. A nonlinear complementary filter exploiting the structure of Special Orthogonal Group S0(3) is proposed. The filter is expressed explicitly in terms of direct and untreated measurements. For a typical low cost inertial measurement where two inertial directions are measured (gravitational and magnetic fields)...[Show more]
|Collections||ANU Research Publications|
|Source:||Proceedings 2006 IEEE International Conference on Robotics and Automation|
|01_Hamel_Attitude_estimation_on_SO(3)_2006.pdf||167.85 kB||Adobe PDF||Request a copy|
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