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arXiv · 2210.11510

Nonlinear Attitude Estimation Using Intermittent and Multi-Rate Vector Measurements

Miaomiao Wang·Abdelhamid Tayebi
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Abstract

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 measurements. Two types of hybrid attitude observers on Lie group $SO(3)$ are proposed. 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. Thereafter, this hybrid attitude observer is extended by introducing a switching mechanism to achieve global asymptotic stability. Both simulation and experimental results are presented to illustrate the performance of the proposed hybrid observers.

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Miaomiao Wang, Abdelhamid Tayebi. 2022-10-20. Nonlinear Attitude Estimation Using Intermittent and Multi-Rate Vector Measurements. https://doi.org/10.1109/tac.2023.3346799

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