publication . Article . 2008

Nonlinear Complementary Filters on the Special Orthogonal Group

J.-M. Pflimlin; Tarek Hamel; Robert Mahony;
Open Access English
  • Published: 04 Jun 2008
  • Publisher: HAL CCSD
  • Country: France
16; International audience; This paper considers the problem of obtaining good attitude estimates from measurements obtained from typical low cost inertial measurement units. The outputs of such systems are characterized by high noise levels and time varying additive biases. We formulate the filtering problem as deterministic observer kinematics posed directly on the special orthogonal group SO(3) driven by reconstructed attitude and angular velocity measurements. Lyapunov analysis results for the proposed observers are derived that ensure almost global stability of the observer error. The approach taken leads to an observer that we term the direct complementary...
free text keywords: special orthogonal group, Attitude estimates, complementary filter, nonlinear observer, special orthogonal group., [SPI.AUTO]Engineering Sciences [physics]/Automatic, Control and Systems Engineering, Electrical and Electronic Engineering, Computer Science Applications, Observer (quantum physics), System identification, Filtering problem, Attitude control, Alpha beta filter, Inertial navigation system, Control theory, Lyapunov function, symbols.namesake, symbols, Mathematics, Electronic filter
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