Attitude Estimation Using Biased Gyro and Vector Measurements With Time-Varying Reference Vectors

Author

Grip, Havard Fjaer ; Fossen, Thor I. ; Johansen, Tor Arne ; Saberi, Ali

Author_Institution

Sch. of Electr. Eng. & Comput. Sci., Washington State Univ., Pullman, WA, USA

Volume

57

Issue

5

fYear

2012

fDate

5/1/2012 12:00:00 AM

Firstpage

1332

Lastpage

1338

Abstract

We present two results on attitude estimation using vector and rate gyro measurements. The first result concerns an observer previously presented by Hamel, Mahony, and Pflimlin, with proven stability results when i) the reference vectors are stationary; or ii) the gyro measurements are unbiased. We prove semiglobal stability without either of these assumptions when a parameter projection is added, and convergence from all initial attitudes when using a resetting strategy. The second result is an algorithm for estimation of bias in the body-fixed vector measurements, which is analyzed in combination with the attitude and gyro bias observer.

Keywords

attitude measurement; convergence; gyroscopes; measurement systems; observers; stability; time-varying systems; attitude bias observer; attitude estimation; body-fixed vector measurements; convergence; gyro bias observer; gyro measurements; parameter projection; resetting strategy; semiglobal stability; time-varying reference vectors; Accelerometers; Atmospheric measurements; Observers; Particle measurements; Quaternions; Stability analysis; Estimation; navigation;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/TAC.2011.2173415

Filename

6060863