A quaternion-based Complementary Sliding Mode Observer for attitude estimation: Application in free-ranging animal motions

This paper proposes a sensing method using a module of GAM sensors (3-axis Gyroscope, 3-axis Accelerometer, 3-axis Magnetometer) for more accurate measurement of the marine animal´s posture. The application in mind is that of Bio-logging. A quaternion-based algorithm is developed through the complementary filtering theory in order to combine all information sources and to obtain an accurate estimation of the attitude. By considering the rigid body kinematic model, a Complementary Sliding Mode Observer (CSMO) is proposed, taking advantages from strapdown inertial measurements and vector observations. The proposed algorithm is based on the multiplicative quaternion correction technique. The performance of the CSMO is shown with a set of preliminary experiments on domestic animals through sensor measurements provided by an Inertial Measurement Unit.