Stability analysis of velocity-aided attitude observers for accelerated vehicles

• Minh-Duc Hua ^[1] ; Philippe Martin ^[2] ; Tarek Hamel ^[3]
  1. [1] ISIR UPMC-CNRS (Institute for Intelligent Systems and Robotics), France
  2. [2] PSL Research University, France
  3. [3] I3S UNS-CNRS, France

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• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 63, 2016, págs. 11-15
• Idioma: inglés
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• Resumen

  • An advanced nonlinear observer for rigid bodies evolving in 3D-space relying on measurement data provided by an IMU and linear velocity measured in the body-fixed frame has been recently proposed, but without specifying its domain of convergence and stability. With respect to conventional attitude observers, which do not involve linear velocity measurements, this observer is better adapted for vehicles subjected to sustained accelerations. This paper presents further modifications yielding two velocity-aided attitude observers, with rigorous almost global convergence and stability analysis. Moreover, the estimation of the gravity direction is globally decoupled from magnetometer measurements.