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Nonlinear attitude observers on SO(3) for complementary and reciprocal measurements: a theoretical study

Date

Authors

Mahony, Robert

Hamel, Tarek

Trumpf, Jochen

Lageman, Christian

Publisher

Institute of Electrical and Electronics Engineers (IEEE Inc)

Abstract

This paper considers the question of designing an attitude observer exploiting the structure of the Special Orthogonal Group SO(3) for both inertial and body-fixed-frame measurements. We consider measurements from a minimal sensor suite, typically a rate

Keywords

Keywords: Asymptotically stable; Observer errors; Sensor suite; Single vectors; Special orthogonal group; Stability analysis; Theoretical study; Vector measurements; Gyroscopes

URI

http://hdl.handle.net/1885/18004

Collections

ANU Research Publications

Source

Proceedings of IEEE Conference on Decision and Control and Chinese Control Conference 2009

Type

Conference paper

DOI

10.1109/CDC.2009.5399821

Restricted until

2037-12-31

Downloads

File

Description

01_Mahony_Nonlinear_attitude_observers_2009.pdf (441.96 KB)