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

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Date

2011

Authors

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

Journal Title

Journal ISSN

Volume Title

Publisher

International Federation of Automatic Control (IFAC)

Abstract

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.

Description

Keywords

Citation

URI

http://hdl.handle.net/1885/64474

Collections

Open Access Research

Source

IFAC World Congress 2011 proceedings

Type

Conference paper

Book Title

Entity type

Access Statement

License Rights

DOI

10.3182/20110828-6-IT-1002.00817

Restricted until

2037-12-31

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01_Hua_Nonlinear_attitude_estimation_2011.pdf (675.48 KB)

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