Sensor-Based Globally Asymptotically Stable Filters for Attitude Estimation: Analysis, Design, and Performance Evaluation

This technical note presents the design, analysis, and performance evaluation of a novel globally asymptotically stable (GAS) filter for attitude estimation. The design is sensor-driven and departs from traditional solutions as no explicit representations of the attitude are considered. The proposed solution yields unique estimates and it does not suffer from drawbacks such as singularities, topological limitations for achieving global stabilization, or unwinding phenomena. The performance of the overall attitude estimation solution is evaluated with the design and implementation of an Attitude and Heading Reference System (AHRS) based on a single low-cost Inertial Measurement Unit. The performance of the proposed AHRS is assessed experimentally using a high precision motion rate table, which provides ground truth signals for comparison with the resulting estimates.