A Global, Continuous, and Exponentially Convergent Observer for Gyro Bias and Attitude of a Rigid Body

2018/05/13 by Dong Eui Chang, Chang, Dong Eui, Taeyoung Lee +1
Engineering · #Aerospace Engineering and Energy Systems #Control and Dynamics of Mobile Robots #FOS: Electrical engineering #FOS: Mathematics #Inertial Sensor and Navigation #Optimization and Control (math.OC) #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · pdf · doi:10.48550/arxiv.1805.04863

openalex publication_date 2018/05/13 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

We propose a 12-dimensional, global, continuous, and exponentially convergent observer for gyro bias and attitude of a rigid body. Any attitude observer developed on the special orthogonal group suffers from the topological restriction that prohibits global attractivity in continuous flow. In this paper, the observer is designed in the set of 3 by 3 real matrices, thus making the topological obstruction on the special orthogonal group irrelevant. The efficacy of the proposed approach against other attitude observers is illustrated by an indoor experiment utilizing visual landmarks.

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