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
Abstract
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...
Subjects
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
44 references, page 1 of 3

[1] J. Vaganay, M. Aldon, and A. Fournier, “Mobile robot attitude estimation by fusion of inertial data,” in Proceedigns of the IEEE Internation Conference on Robotics and Automation ICRA, vol. 1, 1993, pp. 277- 282.

[2] E. Foxlin, M. Harrington, and Y. Altshuler, “Miniature 6-DOF inertial system for tracking HMD,” in Proceedings of the SPIE, vol. 3362, Orlando, Florida, 1998, pp. 214-228. [OpenAIRE]

[3] J. Balaram, “Kinematic observers for articulated robers,” in Proceddings of the IEEE International Conference on Robotics and Automation, 2000, pp. 2597-2604.

[4] J. L. Marins, X. Yun, E. R. Backmann, R. B. McGhee, and M. Zyda, “An extended kalman filter for quaternion-based orientation estimation using marg sensors,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2001, pp. 2003-2011. [OpenAIRE]

[5] E. Lefferts, F. Markley, and M. Shuster, “Kalman filtering for spacecraft attitude estimation,” AIAA Journal of Guidance, Control and Navigation, vol. 5, no. 5, pp. 417-429, September 1982. [OpenAIRE]

[6] B. Barshan and H. Durrant-Whyte, “Inertial navigation systems for mobile robots,” IEEE Transactions on Robotics and Automation, vol. 44, no. 4, pp. 751-760, 1995. [OpenAIRE]

[7] M. Zimmerman and W. Sulzer, “High bandwidth orientation measurement and control ased on complementary filtering,” in Proceedings of Symposium on Roboitcs and Control, SYROCO, Vienna, Austria, 1991.

[8] A.-J. Baerveldt and R. Klang, “A low-cost and low-weight attitude estimation system for an autonomous helicopter,” Intelligent Engineering Systems, 1997.

[9] B. Vik and T. Fossen, “A nonlinear observer for gps and ins integration,” in Proceedings of teh IEEE Conference on Decisioin and Control, Orlando, Florida, USA, December 2001, pp. 2956-2961. [OpenAIRE]

[10] H. Rehbinder and X. Hu, “Nonlinear state estimation for rigid body motion with low-pass sensors,” Systems and Control Letters, vol. 40, no. 3, pp. 183-190, 2000. [OpenAIRE]

[11] E. R. Bachmann, J. L. Marins, M. J. Zyda, R. B. Mcghee, and X. Yun, “An extended kalman filter for quaternion-based orientation estimation using MARG sensors,” 2001. [OpenAIRE]

[12] J.-M. Pflimlin, T. Hamel, P. Soueeres, and N. Metni, “Nonlinear attitude and gyroscoples bias estimation for a VTOL UAV,” in Proceedings of the IFAC world congress, 2005.

[13] H. Rehbinder and X. Hu, “Drift-free attitude estimation for accelerated rigid bodies,” Automatica, 2004.

[14] N. Metni, J.-M. Pflimlin, T. Hamel, and P. Soueeres, “Attitude and gyro bias estimation for a flying UAV,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, August 2005, pp. 295-301. [OpenAIRE]

[15] --, “Attitude and gyro bias estimation for a VTOL UAV,” in Control Engineering Practice, 2006, p. to appear.

44 references, page 1 of 3
Any information missing or wrong?Report an Issue