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]
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