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Velocity aided attitude estimation on SO(3) with sensor delay

Khosravian Hemami, Alireza; Trumpf, Jochen; Mahony, Robert; Hamel, Tarek


This paper provides a nonlinear attitude estimation method for vehicles performing high acceleration maneuvers when measurements of linear velocity and the ambient magnetic field are delayed. Linear velocity is measured using the Global Positioning System (GPS) and the delays of GPS and magnetometer measurements are assumed to be known constants. Our proposed method consists of a delayed observer coupled with a dynamic predictor. The delayed observer uses delayed measurements and provides...[Show more]

CollectionsANU Research Publications
Date published: 2014
Type: Conference paper
Source: Critical Observations in a Diagnostic Problem
DOI: 10.1109/CDC.2014.7039368


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