Attitude estimation in SO(3): A comparative case study

Author

Figueiroa, Miguel ; Moutinho, Alexandra ; Azinheira, Jose Raul

Author_Institution

Inst. Super. Tecnico de Lisboa, Univ. de Lisboa, Lisbon, Portugal

fYear

2014

fDate

14-15 May 2014

Firstpage

79

Lastpage

84

Abstract

This paper introduces a novel algorithm to obtain attitude estimations from low cost 9 Degree of Freedom Inertial Measurement Units. This nonlinear attitude estimator is formulated in the Special Orthogonal Group SO(3) based on the Lyapunov theory. The performance of the proposed estimator is compared to current commonly used methods, namely the Extended Kalman Filter and two other nonlinear estimators in SO(3), in computer simulations for a quadrotor Unmanned Aerial Vehicle.

Keywords

Kalman filters; Lyapunov methods; attitude control; attitude measurement; autonomous aerial vehicles; helicopters; nonlinear estimation; nonlinear filters; units (measurement); 9 degree of freedom inertial measurement units; Lyapunov theory; Special Orthogonal Group SO(3); attitude estimation; computer simulations; extended Kalman filter; nonlinear attitude estimator; quadrotor unmanned aerial vehicle; Accelerometers; Estimation; Kalman filters; Magnetic separation; Magnetometers; Robots; Vectors; Attitude Estimation; Lyapunov Observer; Nonlinear Observer;

fLanguage

English

Publisher

ieee

Conference_Titel

Autonomous Robot Systems and Competitions (ICARSC), 2014 IEEE International Conference on

Conference_Location

Espinho

Type

conf

DOI

10.1109/ICARSC.2014.6849766

Filename

6849766