A global exponential observer for velocity-aided attitude estimation

2016/08/26 by Philippe Martin, Ioannis Sarras, Martin, Philippe +5
Computer Science · Engineering · #Adaptive Control of Nonlinear Systems #FOS: Mathematics #Inertial Sensor and Navigation #Optimization and Control (math.OC) #Target Tracking and Data Fusion in Sensor Networks

paper · pdf · doi:10.48550/arxiv.1608.07450

openalex publication_date 2016/08/26 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

We propose a simple nonlinear observer for estimating the attitude and velocity of a rigid body from the measurements of specific acceleration, angular velocity, magnetic field (in body axes), and linear velocity (in body axes). It is uniformly globally exponentially convergent, and also enjoys other nice properties: global decoupling of pitch and roll estimation from magnetic measurements, good local behavior, and easy tuning. The observer is "geometry-free", in the sense that it respects only asymptotically the rotational geometry. The good behavior of the observer, even when the measurements are noisy and biased is illustrated in simulation.

Citations

• A semi-global model-based state estimator for the quadrotor using only inertial measurements

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