2014/11/14 by Minh‐Duc Hua, Hua, Minh-Duc, Philippe Martin +3
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.1411.3953
openalex publication_date 2014/11/14 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Two nonlinear observers for velocity-aided attitude estimation, relying on gyrometers, accelerometers, magnetometers, and velocity measured in the body-fixed frame, are proposed. As opposed to state-of-the-art body-fixed velocity-aided attitude observers endowed with local properties, both observers are (almost) globally asymptotically stable, with very simple and flexible tuning. Moreover, the roll and pitch estimates are globally decoupled from magnetometer measurements.