DocumentCode :
574370
Title :
Set-Valued Observers for attitude and rate gyro bias estimation
Author :
Bras, Sergio ; Rosa, P. ; Silvestre, Carlos ; Oliveira, P.
Author_Institution :
Inst. for Syst. & Robot. (ISR), Inst. Super. Tecnico, Lisbon, Portugal
fYear :
2012
fDate :
27-29 June 2012
Firstpage :
1098
Lastpage :
1103
Abstract :
This paper addresses the problem of attitude and rate gyro bias estimation using Set-Valued Observers (SVOs). We propose a singularity-free solution that exploits rate gyro measurements and vector observations corrupted by bounded noise providing bounds on the attitude of the rigid body and on the bias of the rate gyros. The sensor readings are fused directly by the SVO, without intermediate attitude computation. By taking advantage of the powerful new multi-core processors it is possible to increase the estimator convergence rate without compromising the execution time. The feasibility of the technique is demonstrated in simulation.
Keywords :
attitude measurement; gyroscopes; observers; sensors; attitude estimation; bounded noise; estimator convergence rate; multicore processor; rate gyro bias estimation; rate gyro measurement; sensor reading; set-valued observer; singularity-free solution; vector observation; Angular velocity; Estimation; Measurement uncertainty; Noise; Noise measurement; Uncertainty; Vectors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference (ACC), 2012
Conference_Location :
Montreal, QC
ISSN :
0743-1619
Print_ISBN :
978-1-4577-1095-7
Electronic_ISBN :
0743-1619
Type :
conf
DOI :
10.1109/ACC.2012.6314955
Filename :
6314955
Link To Document :
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