Nonlinear attitude estimation with measurement decoupling and anti-windup gyro-bias compensation
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.
|Collections||ANU Research Publications|
|Source:||IFAC World Congress 2011 proceedings|
|01_Hua_Nonlinear_attitude_estimation_2011.pdf||675.48 kB||Adobe PDF||Request a copy|
Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.