NDLI: Attitude estimation on SO[3] based on direct inertial measurements

Content Provider	IEEE Xplore Digital Library
Author	Hamel, T. Mahony, R.
Copyright Year	2006
Description	Author affiliation: CNRS, Nice (Hamel, T.)
Abstract	This paper considers the question of obtaining high quality attitude estimates from typical low cost inertial measurement units for applications in control of unmanned aerial vehicles. A nonlinear complimentary filter exploiting the structure of special orthogonal group S0(3) is proposed. The filter is expressed explicitly in terms of direct and untreated measurements. For a typical low cost inertial measurement where two inertial directions are measured (gravitational and magnetic fields) along with angular velocity, it is shown that the filter is well conditioned. If only a single direction is available (typically the gravitational field) along with angular velocity, it is shown that the full gyro bias vector is correctly estimated and that the estimated orientation converges to a set consistent with the measurements. Experimental results, for flight data from the HoverEyecopy UAV, demonstrate the efficiency of the proposed filter
Sponsorship	IEEE Robotics and Autom. Soc
Starting Page	2170
Ending Page	2175
File Size	416813
Page Count	6
File Format	PDF
ISBN	0780395050
ISSN	10504729
DOI	10.1109/ROBOT.2006.1642025
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-05-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Filters Unmanned aerial vehicles Costs Magnetic field measurement Velocity measurement Attitude control Magnetic separation Angular velocity Filtering Measurement units
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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