Title :
Attitude observers for accelerated rigid bodies based on GPS and INS measurements
Author_Institution :
INRIA Sophia Antipolis-Mediterranee, Sophia Antipolis, France
Abstract :
An advanced attitude observer for rigid bodies evolving in 3D-space using GPS-velocity and INS measurements has been proposed recently in the literature without specifying its domain of convergence and stability. With respect to conventional solutions, which do not involve linear velocity measurements, this observer is better adapted for vehicles subjected to important linear accelerations. The present paper proposes further modifications yielding two other attitude observers for which we are able to establish rigorous semi-global convergence and stability results. Simulation results illustrate the compared performance of the three solutions, and of the classical method.
Keywords :
Global Positioning System; acceleration control; aerospace robotics; attitude control; inertial navigation; mobile robots; observers; robot kinematics; stability; telerobotics; GPS measurement; INS measurement; accelerated rigid bodies; attitude observers; convergence; global positioning system; inertial navigation system; linear accelerations; stability; Acceleration; Angular velocity; Convergence; Equations; Global Positioning System; Gyroscopes; Position measurement; Stability analysis; Vehicles; Velocity measurement;
Conference_Titel :
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2009.5399925