A Landmark Based Nonlinear Observer for Attitude and Position Estimation with Bias Compensation

Implementation of a Nonlinear Attitude Estimator for Aerial Robotic Vehicles

“…allowing the linearized error system to have similar dynamics in pitch with that of the conditioned observer whose gains and parameters are given in (38). Figures 3 and 4 show important performance differences between the proposed conditioned observer and the standard observer.…”

“…This motivates the development of algorithms that fuse vector measurements, such as those provided by magnetometers or accelerometers, with the angular velocity measurements provided by gyrometers to obtain a more accurate and less noisy attitude estimation [3], [4], [5], [6], [7], [10], [12], [18], [20], [21], [22], [25], [26], [28], [29], [30], [31], [36], [37], [38], [39].…”

“…Gyrometers and accelerometers suffer from time-varying bias and noise due to temperature change, vibration and impacts, magnetometer readings are corrupted by on-board magnetic fields generated by motors and currents, as well as external magnetic fields experienced by vehicles that manoeuvre in built environments. Earlier work in development of attitude observers tackled the question of bias in the gyrometer MEMS devices [10], [21], [26], [37], [38] by introducing an adaptive bias estimate in the algorithm. Decoupling of input signals to ensure that the roll and pitch estimates are not disturbed by deviation in the magnetometer measurements was considered in [14], [26] and represents an important modification of the basic algorithm to improve the overall quality of the attitude estimate.…”

Second-Order Geometric Sliding Mode Attitude Observer with Application to Quadrotor on a Test Bench

“…However, the tendency of building smaller satellites and aircrafts limits the number of sensors and the on-board processing capability. So attitude control system requires computationally simple yet effective algorithms without sophisticated measurement instrumentation, particularly gyroscopes [10][11][12][13][14]. Gyroscopes provide direct angular rate measurements but are costly and heavy require significant power consumption, and have high failure tendencies.…”

“…Lizarralde and Wen use a velocity filter to stabilize attitude without angular velocity [12]. Another solution is to estimate the angular velocity using an extended Kalman filter [15] or a nonlinear observer [13,14]. In this paper the problem of estimating angular velocities of quadrotor is addressed by nonlinear observers.…”