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Nonlinear attitude estimation with measurement decoupling and anti-windup gyro-bias compensation

Hua, Minh-Duc; Rudin, Konrad; Ducard, Guillaum; Hamel, Tarek; Mahony, Robert


Any low-cost IMU is subject to biased measurement in its gyroscopes. This paper presents a nonlinear attitude observer which incorporates anti-windup gyro-bias compensation. It also provides an extension of the decoupling strategy of IMU measurement recently proposed in the literature by providing almost global stability proof along with a comprehensive study of the decoupling strategy. Simulation and experimental results are given to illustrate the concept.

CollectionsANU Research Publications
Date published: 2011
Type: Conference paper
Source: IFAC World Congress 2011 proceedings
DOI: 10.3182/20110828-6-IT-1002.00817


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