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Nonlinear Attitude Estimation Using Intermittent Linear Velocity and Vector Measurements
arXiv - CS - Systems and Control Pub Date : 2021-09-22 , DOI: arxiv-2109.10872
Miaomiao Wang, Abdelhamid Tayebi

This paper investigates the problem of continuous attitude estimation on $SO(3)$ using continuous angular velocity and linear acceleration measurements as well as intermittent linear velocity and inertial vector measurements. First, we propose a nonlinear observer for the case where all the measurements are continuous and almost global asymptotic stability (AGAS) is shown using the notion of almost global input-to-state stability (ISS) on manifolds. Thereafter, a hybrid attitude observer, with AGAS guarantees, is proposed in terms of intermittent linear velocity and vector measurements. Numerical simulation results are presented to illustrate the performance of the proposed hybrid observer.

中文翻译:

使用间歇线速度和矢量测量的非线性姿态估计

本文研究了使用连续角速度和线加速度测量以及间歇线速度和惯性矢量测量对 $SO(3)$ 进行连续姿态估计的问题。首先,我们提出了一个非线性观测器,用于所有测量都是连续的,并且使用流形上的几乎全局输入到状态稳定性 (ISS) 的概念来显示几乎全局渐近稳定性 (AGAS)。此后,在间歇性线速度和矢量测量方面,提出了具有 AGAS 保证的混合姿态观测器。给出了数值模拟结果来说明所提出的混合观测器的性能。
更新日期:2021-09-23
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