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Attitude estimation on SO(3) based on direct inertial measurements

Hamel, Tarek; Mahony, Robert


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]

CollectionsANU Research Publications
Date published: 2006
Type: Conference paper
Source: Proceedings 2006 IEEE International Conference on Robotics and Automation
DOI: 10.1109/ROBOT.2006.1642025


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