A global observer for attitude and gyro biases from vector measurements

Philippe Martin; Ioannis Sarras

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arXiv · 1604.03714

A global observer for attitude and gyro biases from vector measurements

Philippe Martin·Ioannis Sarras

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Abstract

We consider the classical problem of estimating the attitude and gyro biases of a rigid body from vector measurements and a triaxial rate gyro. We propose a simple "geometry-free" nonlinear observer with guaranteed uniform global asymptotic convergence and local exponential convergence; the stability analysis, which relies on a strict Lyapunov function, is rather simple. The excellent behavior of the observer is illustrated through a detailed numerical simulation.

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BibTeX RIS

Philippe Martin, Ioannis Sarras. 2016-04-13. A global observer for attitude and gyro biases from vector measurements. https://arxiv.org/abs/1604.03714

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