Rigid Body Geometric Attitude Estimator using Multi-rate Sensors

Maulik Bhatt, Srikant Sukumar, Amit K. Sanyal

Research output: Chapter in Book/Entry/PoemConference contribution

7 Scopus citations


A geometric estimator is proposed for the rigid body attitude under multi-rate measurements using discretetime Lyapunov stability analysis in this work. The angular velocity measurements are assumed to be sampled at a higher rate compared to the attitude. The attitude determination problem from two or more vector measurements in the bodyfixed frame is formulated as Wahba's problem. In the case when measurements are absent, a discrete-time model for attitude kinematics is assumed in order to propagate the measurements. A discrete-time Lyapunov function is constructed as the sum of a kinetic energy-like term that is quadratic in the angular velocity estimation error and an artificial potential energylike term obtained from Wahba's cost function. A filtering scheme is obtained by discrete-time stability analysis using a suitable Lyapunov function. The analysis shows that the filtering scheme is asymptotically stable in the absence of measurement noise and the domain of convergence is almost global. For a realistic evaluation of the scheme, numerical experiments are conducted with inputs corrupted by bounded measurement noise. Simulation results exhibit convergence of the estimated states to a bounded neighborhood of the actual states.

Original languageEnglish (US)
Title of host publication2020 59th IEEE Conference on Decision and Control, CDC 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781728174471
StatePublished - Dec 14 2020
Event59th IEEE Conference on Decision and Control, CDC 2020 - Virtual, Jeju Island, Korea, Republic of
Duration: Dec 14 2020Dec 18 2020

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370


Conference59th IEEE Conference on Decision and Control, CDC 2020
Country/TerritoryKorea, Republic of
CityVirtual, Jeju Island


  • Attitude Control
  • Discrete-time Lyapunov Methods
  • Geometric Control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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