Observer and First-Order Low-Pass Filter Based Attitude Estimation for Rigid Bodies Subject to External Acceleration

Tristan Bonargent1, Tomas Menard2, Eric Pigeon3, Olivier Gehan4

  • 1Normandie Univ, UNICAEN, ENSICAEN, LAC, 14000 Caen, France
  • 2University of caen
  • 3University of CAEN
  • 4ENSICAEN

Details

10:40 - 11:00 | Wed 11 Dec | Rhodes EF | WeA18.3

Session: Observers for Nonlinear Systems I

Abstract

In this paper, we consider the problem of estimating the attitude of a rigid body who is subject to non-negligible external acceleration, based on the measurements provided by a classical IMU unit: gyroscope, accelerometer and magnometer. Two algorithms are proposed, based on the combination of a low-pass filter in the fixed inertial frame and an observer. The stability of the proposed schemes are proved, based on a Lyapunov approach. Simulations are provided in order to illustrate the performances of the proposed observers.