The variational attitude estimator in the presence of bias in angular velocity measurements

Maziar Izadi, Sasi P. Viswanathan, Amit Sanyal, Carlos Silvestre, Paulo Oliveira

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

Estimation of rigid body attitude motion is a long-standing problem of interest in several applications. This problem is challenging primarily because rigid body motion is described by nonlinear dynamics and the state space is nonlinear. The extended Kalman filter and its several variants have remained the standard and most commonly used schemes for attitude estimation over the last several decades. These schemes are obtained as approximate solutions to the nonlinear optimal filtering problem. However, these approximate or near optimal solutions may not give stable estimation schemes in general. The variational attitude estimator was introduced recently to fill this gap in stable estimation of arbitrary rigid body attitude motion in the presence of uncertainties in initial state and unknown measurement noise. This estimator is obtained by applying the Lagrange-d'Alembert principle of variational mechanics to a Lagrangian constructed from residuals between measurements and state estimates with a dissipation term that is linear in the angular velocity measurement residual. In this work, the variational attitude estimator is generalized to include angular velocity measurements that have a constant bias in addition to measurement noise. The state estimates converge to true states almost globally over the state space. Further, the bias estimates converge to the true bias once the state estimates converge to the true states.

Original languageEnglish (US)
Title of host publication2016 American Control Conference, ACC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4065-4070
Number of pages6
Volume2016-July
ISBN (Electronic)9781467386821
DOIs
StatePublished - Jul 28 2016
Event2016 American Control Conference, ACC 2016 - Boston, United States
Duration: Jul 6 2016Jul 8 2016

Other

Other2016 American Control Conference, ACC 2016
CountryUnited States
CityBoston
Period7/6/167/8/16

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Izadi, M., Viswanathan, S. P., Sanyal, A., Silvestre, C., & Oliveira, P. (2016). The variational attitude estimator in the presence of bias in angular velocity measurements. In 2016 American Control Conference, ACC 2016 (Vol. 2016-July, pp. 4065-4070). [7525560] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACC.2016.7525560