A GES attitude observer with single vector observations

This paper presents a novel observer for attitude estimation based on a triad of high-grade rate gyros aided by a body-fixed vector measurement of a constant inertial vector, departing from the majority of solutions that consider at least two of these vectors. A cascade approach is proposed, where the first block estimates a vector that is related to the angular velocity of the Earth and a second block estimates the attitude. While the topological characteristics are relaxed in the attitude observer so that global exponential stability is achieved, an additional stage is also devised that yields estimates directly on the special orthogonal group, preserving global convergence of the estimation error. Simulation results with realistic sensor noise were performed, including extensive Monte Carlo runs. These results illustrate the convergence of the proposed solution, as well as the achievable performance and robustness to sensor noise.

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“…Proof The proof is essentially identical to , Theorem 7] in spite of the different system dynamics when

(‖‖, {\overset{R}{true}}^{T} false(t false) \overset{R}{true} false(t false) - boldI) > ϵ

. Since in this case it is still ensured that

{\overset{R}{true}}_{f} false(t false) \in S O false(3 false)

for all t ≥ t 0 , all the remaining steps of the proof apply. □…”

Section: Observer Designmentioning

confidence: 82%

“…, and [32] for successful alternatives. Next, an additional result is provided with one of these alternatives, which is closely related to the solution proposed in .…”

Section: Observer Designmentioning

confidence: 99%

Globally exponentially stable attitude observer with Earth velocity estimation

Batista

Silvestre

Oliveira

2019

Asian Journal of Control

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“…Batista et al (2012b) and Batista, Silvestre, and Oliveira (2012c) also considered the use of a separate observer to produce globally exponentially stable gyro bias estimates, although their approach requires stationary reference vectors. Attitude estimation using a single vector measurement has been considered by several authors (Batista et al, 2011b;Batista, Silvestre, & Oliveira, 2012a;Kinsey & Whitcomb, 2007;Lee, Leok, McClamroch, & Sanyal, 2007;Mahony, Hamel, Trumpf, & Lageman, 2009) and is possible under a persistency-of-excitation (pe) condition.…”

Section: Introductionmentioning

confidence: 99%

Globally exponentially stable attitude and gyro bias estimation with application to GNSS/INS integration

Grip

Fossen²,

Johansen³

et al. 2015

Automatica

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“…There exist other alternatives to calculateˆ than stated in (8). First, in the implementation we utilized a saturated estimate off…”

Section: A Dp Vessel and Ins Configurationmentioning

confidence: 99%

“…The latter concept is based on comparison of vector measurements with their respective reference vectors in a given reference frame. The first principle was utilized in [3]- [5], whereas Mahony torleiv.h.bryne@itk.ntnu.no, fossen@ieee.org, tor.arne.johansen@itk.ntnu.no et al [6], Hua [7], Batista et al [8]- [9] and Grip et al [10] utilized vector measurements to estimate the attitude.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear observer with time-varying gains for inertial navigation aided by satellite reference systems in dynamic positioning

Bryne

Fossen

Johansen

2014

22nd Mediterranean Conference on Control and Automation

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Abstract-The measurement quality of Global Navigation Satellites Systems (GNSS) during marine operations will vary over time. Inherently, GNSS quality changes should be handled when GNSS is utilized as aid in inertial navigation systems. In this paper we present an observer for estimating position, velocity and attitude with time-varying gains for highperformance sensor fusion based on GNSS quality and other quality indicators. The origin of the error dynamics is proven to be uniformly semiglobal exponentially stable. The concept is illustrated by simulating a vessel operating in dynamic positioning with GNSS and inertial sensors.

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A GES attitude observer with single vector observations

Cited by 56 publications

References 23 publications

Globally exponentially stable attitude observer with Earth velocity estimation

Globally exponentially stable attitude observer with Earth velocity estimation

Globally exponentially stable attitude and gyro bias estimation with application to GNSS/INS integration

Nonlinear observer with time-varying gains for inertial navigation aided by satellite reference systems in dynamic positioning

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