Recursive attitude estimation in the presence of multi-rate and multi-delay vector measurements
| Autor: | Jochen Trumpf, Alireza Khosravian, Tarek Hamel, Robert Mahony |
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| Přispěvatelé: | Australian National University - Department of engineering (ANU), Australian National University (ANU), Laboratoire d'Informatique, Signaux, et Systèmes de Sophia-Antipolis (I3S) / Equipe SYSTEMES, Signal, Images et Systèmes (Laboratoire I3S - SIS), Laboratoire d'Informatique, Signaux, et Systèmes de Sophia Antipolis (I3S), Université Nice Sophia Antipolis (... - 2019) (UNS), COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS)-Université Côte d'Azur (UCA)-Université Nice Sophia Antipolis (... - 2019) (UNS), COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS)-Université Côte d'Azur (UCA)-Laboratoire d'Informatique, Signaux, et Systèmes de Sophia Antipolis (I3S), COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-COMUE Université Côte d'Azur (2015-2019) (COMUE UCA)-Centre National de la Recherche Scientifique (CNRS)-Université Côte d'Azur (UCA), IEEE, ANR-12-ASTR-0033,SCAR,Commande Référencée Capteurs de Robots Aériens(2012) |
| Rok vydání: | 2015 |
| Předmět: | |
| Zdroj: | ACC American Control Conference (ACC) American Control Conference (ACC), IEEE, Jul 2015, Chicago, United States. pp.3199-3205, ⟨10.1109/ACC.2015.7171825⟩ |
| DOI: | 10.1109/acc.2015.7171825 |
| Popis: | International audience; This paper proposes an attitude estimation methodology for the case where attitude sensors provide discrete-time samples of vector measurements at different sample rates and with time delays. The proposed methodology is based on a cascade combination of an output predictor and an attitude observer or filter. The predictor compensates for the effect of sampling and delays in vector measurements and provides continuous-time predictions of outputs. These predictions are then used in an observer or filter to estimate the current attitude. The primary contribution of the paper is to exploit the underlying symmetry of the attitude kinematics to design a recursive predictor that is computationally simple and generic, in the sense that it can be combined with any asymptotically stable observer or filter. We prove that the predictor is able to reproduce the continuous time delay-free vector measurements. In a simulation example, we demonstrate good performance of the combined predictor-observer even in presence of measurement noise and delay uncertainties. |
| Databáze: | OpenAIRE |
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