DocumentCode
2831633
Title
Invariant observers for attitude and heading estimation from low-cost inertial and magnetic sensors
Author
Martin, Philippe ; Salaün, Erwan
Author_Institution
Ecole des Mines de Paris, Paris
fYear
2007
fDate
12-14 Dec. 2007
Firstpage
1039
Lastpage
1045
Abstract
In this paper we propose invariant nonlinear observers for attitude and heading estimation using directly the measurements from low-cost inertial and magnetic sensors. In particular we propose a simple and easy-to-tune observer where moreover the estimated attitude behaves well even in the presence of magnetic disturbances.
Keywords
aircraft control; attitude control; inertial navigation; magnetic sensors; nonlinear control systems; observers; attitude estimation; easy-to-tune observer; heading estimation; invariant nonlinear observers; low-cost inertial sensors; magnetic disturbances; magnetic sensors; Acceleration; Accelerometers; Aircraft; Attitude control; Earth; Magnetic field measurement; Magnetic sensors; Motion measurement; Nonlinear equations; Q measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2007 46th IEEE Conference on
Conference_Location
New Orleans, LA
ISSN
0191-2216
Print_ISBN
978-1-4244-1497-0
Electronic_ISBN
0191-2216
Type
conf
DOI
10.1109/CDC.2007.4435006
Filename
4435006
Link To Document