Title :
Attitude estimation in SO(3): A comparative case study
Author :
Figueiroa, Miguel ; Moutinho, Alexandra ; Azinheira, Jose Raul
Author_Institution :
Inst. Super. Tecnico de Lisboa, Univ. de Lisboa, Lisbon, Portugal
Abstract :
This paper introduces a novel algorithm to obtain attitude estimations from low cost 9 Degree of Freedom Inertial Measurement Units. This nonlinear attitude estimator is formulated in the Special Orthogonal Group SO(3) based on the Lyapunov theory. The performance of the proposed estimator is compared to current commonly used methods, namely the Extended Kalman Filter and two other nonlinear estimators in SO(3), in computer simulations for a quadrotor Unmanned Aerial Vehicle.
Keywords :
Kalman filters; Lyapunov methods; attitude control; attitude measurement; autonomous aerial vehicles; helicopters; nonlinear estimation; nonlinear filters; units (measurement); 9 degree of freedom inertial measurement units; Lyapunov theory; Special Orthogonal Group SO(3); attitude estimation; computer simulations; extended Kalman filter; nonlinear attitude estimator; quadrotor unmanned aerial vehicle; Accelerometers; Estimation; Kalman filters; Magnetic separation; Magnetometers; Robots; Vectors; Attitude Estimation; Lyapunov Observer; Nonlinear Observer;
Conference_Titel :
Autonomous Robot Systems and Competitions (ICARSC), 2014 IEEE International Conference on
Conference_Location :
Espinho
DOI :
10.1109/ICARSC.2014.6849766
