On the attitude estimation of accelerating rigid-bodies using GPS and IMU measurements

Proceedings of the IEEE Conference on Decision and Control

Volumn , Issue , 2011, Pages 8088-8093

  Roberts, Andrew ^a   Tayebi, Abdelhamid ^a  

^a UNIVERSITY OF WESTERN ONTARIO   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

ACCELERATION; ACCELEROMETERS; GLOBAL POSITIONING SYSTEM; RIGID STRUCTURES;

ACCELEROMETER MEASUREMENT; ATTITUDE ESTIMATION; GRAVITY VECTORS; INERTIAL FRAMES; INERTIAL MEASUREMENT UNIT; LINEAR ACCELERATIONS; LINEAR VELOCITY; ROTATIONAL MOTION;

GRAVITATION;

EID: 84860701129     PISSN: 07431546     EISSN: 25762370     Source Type: Conference Proceeding    
DOI: 10.1109/CDC.2011.6161005     Document Type: Conference Paper

References (21)

1. G. Wahba, "A least squares estimate of spacecraft attitude," SIAM Review, vol. 7, no. 3, p. 409, 1965.
2. M. D. Shuster and S. D. Oh, "Three-axis attitude determination from vector observations," Journal of Guidance and Control, vol. 4, pp. 70-77, 1979.
3. R. Reynolds, "Quaternion parameterization and a simple algorithm for global attitude estimation," AIAA Journal of Guidance, Control and Dynamics, vol. 21, no. 4, 1998.
4. N. Metni, J. M. Pflimlin, T. Hamel, and P. Soueres, "Attitude and gyro bias estimation for a flying uav," in proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005), 2-6 Aug. 2005, pp. 1114-1120.
5. A. Tayebi and S. McGilvray, "Attitude stabilization of a vtol quadrotor aircraft," IEEE Transactions on Control Systems Technology, vol. 14, no. 3, pp. 562-571, May 2006.
6. R. Mahony, T. Hamel, and J.-M. Pflimlin, "Nonlinear complementary filters on the special orthogonal group," IEEE Transactions on Automatic Control, vol. 53, no. 5, pp. 1203-1218, June 2008.
7. R. Mahony, T. Hamel, and J. Pflimlin, "Complementary filter design on the special orthogonal group SO (3)," in proc. of the 44th IEEE Conference on Decision and Control European Control Conference, CDC-ECC'05, 2005, pp. 1477-1484.
8. T. Hamel and R. Mahony, "Attitude estimation on so[3] based on direct inertial measurements," in Proceedings of 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., May 2006, pp. 2170-2175.
9. A. Tayebi, S. McGilvray, A. Roberts, and M. Moallem, "Attitude estimation and stabilization of a rigid body using low-cost sensors," in proc. of 46th IEEE conference on decision and control, 2007.
10. P. Martin and E. Salaun, "Design and implementation of a low-cost observer-based attitude and heading reference system," Control Engineering Practice, vol. 18, no. 7, 2010.
11. A. Tayebi, A. Roberts, and A. Benallegue, "Attitude estimation and control from vector measurements," in American Control Conference (ACC2011), San Francisco, California, USA June 29 - July 1, 2011.
12. S. Bonnabel, P. Martin, and P. Rouchon, "Symmetry-preserving observers," IEEE Transactions on Automatic Control, vol. 53, no. 11, pp. 2514-2526, Dec. 2008.
13. P. Martin and E. Salaun, "An invariant observer for earth-velocity-aided attitude heading reference systems," in Proceedings of the 17th World Congress, The International Federation of Automatic Control, Seoul, Korea, 2008.
14. M. Hua, "Attitude estimation for accelerated vehicles using GPS/INS measurements," Control Engineering Practice, vol. 18, no. 7, pp. 723-732, 2010.
15. A. Roberts and A. Tayebi, "Position control of vtol uavs using imu and gps measurements," in 50th IEEE Conference on Decision and Control and European Control Conference, Orlando, Florida, Dec. 12-15, 2011.
16. M. Shuster, "A survey of attitude representations," The Journal of the Astronautical Sciences, vol. 41, no. 4, pp. 439-517, 1993.
17. R. Murray, Z. Li, and S. Sastry, A mathematical introduction to robotic manipulation. CRC press, 1994.
18. P. Hughes, Spacecraft attitude dynamics. John Wiley & Sons Inc, 1986.
19. S. Bhat and D. Bernstein, "A topological obstruction to continuous global stabilization of rotational motion and the unwinding phenomenon," Systems & Control Letters, vol. 39, no. 1, pp. 63-70, 2000.
20. D. Koditschek, "Application of a new Lyapunov function to global adaptive attitudetracking," in proceedings of the 27th IEEE Conference on Decision and Control, 1988., 1988, pp. 63-68.
21. I. P. and J. Sun, Robust Adaptive Control. Prentice Hall, Inc., 1996.