Globally exponential estimation of satellite attitude using a single vector measurement and gyro

Khosravian, Alireza; Namvar, Mehrzad

doi:10.1109/cdc.2010.5717816

Cited by 34 publications

(33 citation statements)

References 17 publications

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“…Hence, the method proposed in Proposition 4 suits those systems whose reference outputs are constant with respect to time. Time-varying reference outputs have been investigated in [2], [10], [12], [25] for the special case of attitude estimation on SO(3). Nevertheless, in most practical cases, the reference outputs can be assumed constant [7], [18], [26], and Proposition 4 can be applied to design a suitable cost function.…”

Section: Constructing a Cost Function On The Lie Groupmentioning

confidence: 99%

Bias estimation for invariant systems on Lie groups with homogeneous outputs

Khosravian

Trumpf

Mahony

et al. 2013

52nd IEEE Conference on Decision and Control

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In this paper, we provide a general method of state estimation for a class of invariant systems on connected matrix Lie groups where the group velocity measurement is corrupted by an unknown constant bias. The output measurements are given by a collection of actions of a single Lie group on several homogeneous output spaces, a model that applies to a wide range of practical scenarios. The proposed observer consists of a group estimator part, providing an estimate of a bounded state evolving on the Lie group, and a bias estimator part, providing an estimate of the bias in the associated Lie algebra. We employ the gradient of a suitable invariant cost function on the Lie group as an innovation term in the group estimator. We design the bias estimator such that it guarantees uniform local exponential stability of the estimation error dynamics around the zero error state. We propose a systematic methodology for the design of suitable cost functions on Lie groups by lifting invariant cost functions from the homogeneous output spaces. We show that the resulting observer is implementable based on available sensor measurements if the homogeneous output spaces are reductive. As an example, we derive an observer for rigid body attitude using vector and gyro measurements with unknown constant gyro bias.

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Section: Constructing a Cost Function On The Lie Groupmentioning

confidence: 99%

Bias estimation for invariant systems on Lie groups with homogeneous outputs

Khosravian

Trumpf

Mahony

et al. 2013

52nd IEEE Conference on Decision and Control

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“…Similar ideas have been later used in the work by Khosravian and Namvar [38], who proposed a nonlinear observer using a magnetometer as a single vector measurement. In addition to their work, Hua et al [23] have implemented a nonlinear attitude estimator that allows the compensation of gyroscope biases of a low-cost IMU using an antiwindup integration technique.…”

Section: Related Workmentioning

confidence: 80%

A DCM Based Attitude Estimation Algorithm for Low-Cost MEMS IMUs

Hyyti

Visala

2015

International Journal of Navigation and Observation

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An attitude estimation algorithm is developed using an adaptive extended Kalman filter for low-cost microelectromechanicalsystem (MEMS) triaxial accelerometers and gyroscopes, that is, inertial measurement units (IMUs). Although these MEMS sensors are relatively cheap, they give more inaccurate measurements than conventional high-quality gyroscopes and accelerometers. To be able to use these low-cost MEMS sensors with precision in all situations, a novel attitude estimation algorithm is proposed for fusing triaxial gyroscope and accelerometer measurements. An extended Kalman filter is implemented to estimate attitude in direction cosine matrix (DCM) formation and to calibrate gyroscope biases online. We use a variable measurement covariance for acceleration measurements to ensure robustness against temporary nongravitational accelerations, which usually induce errors when estimating attitude with ordinary algorithms. The proposed algorithm enables accurate gyroscope online calibration by using only a triaxial gyroscope and accelerometer. It outperforms comparable state-of-the-art algorithms in those cases when there are either biases in the gyroscope measurements or large temporary nongravitational accelerations present. A low-cost, temperature-based calibration method is also discussed for initially calibrating gyroscope and acceleration sensors. An open source implementation of the algorithm is also available.

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“…Theorem 1: Consider the observer (10)-(12) together with the control law (20)- (21) and the parameter adaptation law (23) for the satellite kinematics (6) and dynamics (7). Assume that s 2 is a known upper bound for (Js).…”

Section: Controller Analysismentioning

confidence: 99%

“…The proposed attitude estimator is a certainty-equivalent of the rigid body kinematic (6) and is given by [21] …”

Section: System Descriptionmentioning

confidence: 99%

“…The satellite attitude matrix is first estimated by an exponentially convergent observer of [21] and then used in a nonlinear controller such that asymptotic attitude tracking is ensured. Finally, a simulation example is presented to illustrate the performance of the proposed estimator-controller in a realistic case study where the effect of sensor noise is also investigated.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Rigid Body Attitude Control Using a Single Vector Measurement and Gyro

Khosravian

Namvar

2012

IEEE Trans. Automat. Contr.

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Most existing methods for satellite attitude control assume that full knowledge of satellite attitude is available by algebraic manipulation of at least two vector measurements from attitude sensors such as Sun, Earth-horizon, Earth-magnetic or star tracker sensors. Kalman filtering is usually used when only one vector measurement is available, however, asymptotic stability of nonlinear and uncertain dynamics of satellite is not guaranteed in this case. This technical note presents a coupled nonlinear estimator-controller for satellite attitude determination and control by using a 3-axis gyro and a single vector measurement for a fully actuated satellite. We assume that the moment-of-inertia matrix of satellite is unknown. Asymptotic convergence of the satellite attitude and angular velocity to their desired values is proven. Performance of the proposed controller is illustrated in a realistic case study by simulation where a magnetometer is used to provide the single vector measurement.Index Terms-Attitude Determination and control system (ADCS).

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Globally exponential estimation of satellite attitude using a single vector measurement and gyro

Cited by 34 publications

References 17 publications

Bias estimation for invariant systems on Lie groups with homogeneous outputs

Bias estimation for invariant systems on Lie groups with homogeneous outputs

A DCM Based Attitude Estimation Algorithm for Low-Cost MEMS IMUs

Rigid Body Attitude Control Using a Single Vector Measurement and Gyro

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