Abstract
This work proposes a nonlinear observer for attitude estimation on SO(3), exploiting the information of vector observations and biased angular rate measurements. It is shown that the attitude and bias estimation errors converge exponentially fast to the origin, for arbitrary angular velocity trajectories. The proposed attitude feedback law is an explicit function of the vector measurements and observer estimates, and convergence rate bounds are obtained using recent results for parametrized linear time-varying systems. The stability and convergence properties of the estimation errors are evidenced in simulation for time-varying angular velocities.
Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
