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Nonlinear Attitude Estimation Using Intermittent Linear Velocity and Vector Measurements
[article]
2021
arXiv
pre-print
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Thereafter, a hybrid attitude observer, with AGAS guarantees, is proposed in terms of intermittent linear velocity and vector measurements. ...
This paper investigates the problem of continuous attitude estimation on SO(3) using continuous angular velocity and linear acceleration measurements as well as intermittent linear velocity and inertial ...
To overcome this problem, we redesigned our attitude observer using hybrid systems tools to efficiently handle the case where the measurements of the linear velocity and inertial vectors are intermittent ...
arXiv:2109.10872v1
fatcat:tmrm5ru6brej3cp2fgcsck5jga
Attitude and Gyro Bias Estimation Using GPS and IMU Measurements
[article]
2017
arXiv
pre-print
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We propose an attitude and gyro-bias estimation scheme for accelerated rigid body systems using an inertial measurement unit (IMU) and a global positioning system (GPS). ...
Furthermore, a new switching technique for the attitude state is introduced which results in a velocity-aided hybrid attitude observer with proven global exponential stability. ...
This paper addresses the attitude estimation problem using IMU and inertial-frame velocity measurements. ...
arXiv:1703.05696v1
fatcat:nrthnlrjvbh6hafihkyuamnrya
Localization from Inertial Data and Sporadic Position Measurements
2020
IFAC-PapersOnLine
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We use a hybrid dynamical systems representation for our results, in order to provide an effective, and elegant theoretical framework. ...
We use a hybrid dynamical systems representation for our results, in order to provide an effective, and elegant theoretical framework. ...
When these velocity measurements are available, a nonlinear observer for inertial navigation is proposed in Grip et al. (2013) , which uses a quaternion-based attitude representation. ...
doi:10.1016/j.ifacol.2020.12.1654
fatcat:6cpwpctdizhf3oe5bqpsdwtlki
Observers Design for Inertial Navigation Systems: A Brief Tutorial
[article]
2020
arXiv
pre-print
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measurement unit (IMU) and landmark measurements. ...
, leading to provable strong stability properties. ...
This approach consists in using measurements (in the vehicle frame) of some known vectors in the inertial frame. ...
arXiv:2009.08569v1
fatcat:4itsy4hpsnaf5gaxfsk6zuy74i
Nonlinear Attitude Estimation Using Intermittent and Multi-Rate Vector Measurements
[article]
2023
arXiv
pre-print
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2022 pre-print arXiv:2210.11510v1 fatcat:ohtfxfb3ynet5hxzlhl33tg2baOther Versions
This paper considers the problem of nonlinear attitude estimation for a rigid body system using intermittent and multi-rate inertial vector measurements as well as continuous (high-rate) angular velocity ...
First, we propose a hybrid attitude observer where almost global asymptotic stability is guaranteed using the notion of almost global input-to-state stability on manifolds. ...
In this paper, we consider the problem of attitude estimation using continuous (high-rate) angular velocity and intermittent inertial vector measurements with multiple sampling rates. ...
arXiv:2210.11510v3
fatcat:gwsla367vresdkthtbrbdrpc34
Model-free control algorithms for micro air vehicles with transitioning flight capabilities
2020
International Journal of Micro Air Vehicles
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The proposed flight controller is designed to stabilize the hybrid micro air vehicle attitude as well as its velocity and position during all flight phases. ...
By using model-free control algorithms, the proposed flight control architecture bypasses the need for a precise hybrid micro air vehicle model that is costly and time consuming to obtain. ...
These reference values which are defined in the inertial coordinate frame are transformed to the body coordinate frame as well as the velocities measurements. ...
doi:10.1177/1756829320914264
fatcat:o24shlpksraelhqixju6aou76y
A Novel Four-DOF Lagrangian Approach to Attitude Tracking for Rigid Spacecraft
[article]
2022
arXiv
pre-print
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, uncertainty in the inertial matrix, and lack of angular-velocity measurements are addressed progressively, by designing a hybrid state-feedback controller, an adaptive hybrid state-feedback controller ...
, and an adaptive hybrid attitude-feedback controller. ...
To address the issues of attitude measurement noise, onorbit torque disturbances and unknown inertial matrix, and lack of angular-velocity measurement for feedback, next a hybrid state-feedback controller ...
arXiv:2202.05227v1
fatcat:j6kevbdbqfdzbdofpw43xmjure
Architectural elements of hybrid navigation systems for future space transportation
2017
CEAS Space Journal
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In terms of GNSS outputs we consider receiver solutions (Position and Velocity) and raw measurements (Pseudorange, Pseudorange-rate and Time-Differenced Carrier Phase). ...
Combination of inertial measurements and GNSS outputs allows inertial calibration on-line, solving the issue of inertial drift. However, many challenges and design options unfold. ...
While in a Hybridized scheme sculling is well mitigated by the direct measurement of position and velocity by the GNSS receiver, coning poses a higher threat as attitude is not directly observed. ...
doi:10.1007/s12567-017-0187-z
fatcat:zjb37xfdlvft3l6eq66wspf2ci
Realization of an autonomous integrated suite of strapdown astro-inertial navigation systems using unscented particle filtering
2009
Computers and Mathematics with Applications
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This technique is anticipated to accomplish enhanced accuracy and more specific inferences than could be achieved by the use of a single sensor alone. ...
Multisensor navigation data synthesis (MNDS) is the process of fusing outputs from inertial sensors with information from other sensors and information processing blocks into one representational form. ...
The gyros measure the vector of inertial rotation and the system uses it to calculate attitude in the form of a coordinate transformation matrix. ...
doi:10.1016/j.camwa.2008.07.042
fatcat:54cmpughsvbrzdk7ovm6rwec5u
A Cascaded Approach for Quadrotor's Attitude Estimation
2014
Procedia Technology - Elsevier
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The attitude and attitude rates of the quadrotor are especially important for stabilizing the quadrotor within complex indoor environments. ...
The author In [10] proposes a coupled non-linear attitude estimation and control design for the attitude stabilization of low-cost aerial robotic vehicles. ...
doi:10.1016/j.protcy.2014.09.080
fatcat:34t45wavmrg6lgbaf4rif64vvi
A unified framework for external wrench estimation, interaction control and collision reflexes for flying robots
2014
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems
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Using this estimate, we also design admittance and impedance controllers for sensitive and robust physical interaction. ...
In principle, they may be measured or estimated. In this paper, we present a novel model-based method for external wrench estimation in flying robots. ...
attitude error vector obtained fromR = R T di R bi . ...
doi:10.1109/iros.2014.6943154
dblp:conf/iros/TomicH14
fatcat:gsol4mlwzbabjnyvbntknotu3u
Enhancing Indoor Inertial Pedestrian Navigation Using a Shoe-Worn Marker
2013
Sensors
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We propose a novel hybrid inertial sensors-based indoor pedestrian dead reckoning system, aided by computer vision-derived position measurements. ...
Position measurements can be therefore more reliably fed to a complementary unscented Kalman filter, enhancing the accuracy of the estimated travelled path for 78%, compared to using solely zero velocities ...
the first ZUPT pseudo-measurement in the detected stance phase, because at that time the compass measurement should have been stabilized already. ...
doi:10.3390/s130809836
pmid:23917258
pmcid:PMC3812582
fatcat:tl4ljn3laratjkrcr2nfgqijeu
Global Exponential Angular Velocity Observer for Rigid Body Systems
[article]
2016
arXiv
pre-print
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2016 pre-print arXiv:1603.09234v1 fatcat:vrk5kuaiybbyphac3nzoqmoqoe
Simulation results are provided to demonstrate the effectiveness of the proposed hybrid observer as a part of an attitude stabilization scheme. ...
We present a uniformly globally exponentially stable hybrid angular velocity observer for rigid body systems designed directly on SO(3)×R^3. ...
The proposed observer has been successfully used in a velocity-free attitude stabilization scheme, as illustrated in the simulation results. ...
arXiv:1603.09234v2
fatcat:wlv5jjf4xndefho7mvx2qyrrrq
Reduced-Attitude Control of Fixed-Wing Unmanned Aerial Vehicles Using Geometric Methods on the Two-Sphere
2020
IFAC-PapersOnLine
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The representation of reduced attitude is invariant to rotations about the inertial gravity axis, which makes it well suited for banked turn maneuvers. ...
As an alternative to reduced-attitude control of fixed-wing unmanned aerial vehicles using roll and pitch angles, we propose to use a global representation that evolves on the twosphere. ...
It should be used for turn coordination and to stabilize the parallel component of angular velocity. ...
doi:10.1016/j.ifacol.2020.12.1606
fatcat:uc56nkig3rh4pb2dvrcuesxcay
Hybrid Nonlinear Observers for Inertial Navigation Using Landmark Measurements
[article]
2019
arXiv
pre-print
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2020 accepted arXiv:1906.04689v2 fatcat:woqgffuimbemraybdkmiynb2ie
This paper considers the problem of attitude, position and linear velocity estimation for rigid body systems relying on landmark measurements. ...
We propose two hybrid nonlinear observers on the matrix Lie group SE_2(3), leading to global exponential stability. ...
HYBRID OBSERVERS DESIGN USING BIAS-FREE ANGULAR VELOCITY
A. ...
arXiv:1906.04689v1
fatcat:glbdlc6klvgynfwizakebjqqbu
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