Title :
A general symmetry-preserving observer for aided attitude heading reference systems
Author :
Martin, Philippe ; Salaun, Erwan
Author_Institution :
Centre Autom. et Syst., Ecole des Mines de Paris, Paris, France
Abstract :
We generalize several recent works on nonlinear observers for aided attitude heading reference systems: we propose a symmetry-preserving nonlinear observer which merges the most common measurements available on an aircraft (altitude, Earth-fixed and body-fixed velocity, inertial and magnetic sensors). It can be seen as an alternative to the Extended Kalman Filter, but easier to tune and computationally much more economic. Moreover it has by design a nice geometrical structure appealing from an engineering viewpoint. We illustrate its good performance on simulation and experimental results.
Keywords :
Kalman filters; remotely operated vehicles; aircraft; attitude heading reference systems; extended Kalman filter; symmetry-preserving observer; unmanned aerial vehicles; Aerospace engineering; Aircraft propulsion; Attitude control; Computational modeling; Design engineering; Earth; Equations; Magnetic sensors; Quaternions; Velocity measurement;
Conference_Titel :
Decision and Control, 2008. CDC 2008. 47th IEEE Conference on
Conference_Location :
Cancun
Print_ISBN :
978-1-4244-3123-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2008.4739372