Abstract
This paper deals with the attitude estimation of a rigid body equipped with angular velocity sensors and reference vector sensors. A quaternion-based nonlinear observer is proposed in order to fuse all information sources and to obtain an accurate estimation of the attitude. It is shown that the observer error dynamics can be separated into two passive subsystems connected in “feedback”. Then, this property is used to show that the error dynamics is input-to-state stable when the measurement disturbance is seen as an input and the error as the state. These results allow one to affirm that the observer is “robustly stable”. The proposed observer is evaluated in real-time with the design and implementation of an Attitude and Heading Reference System (AHRS) based on low-cost MEMS (Micro-Electro-Mechanical Systems) Inertial Measure Unit (IMU) and magnetic sensors and a 16-bit microcontroller. The resulting estimates are compared with a high precision motion system to demonstrate its performance.
Highlights
The attitude information is obtained from inertial and magnetic sensors, namely, three rate gyros, three accelerometers and three magnetometers, orthogonally mounted, such that the sensor frame axes coincide with the principal axes of the rigid body
The estimation methodology proposed in this work is implemented and evaluated in real time, in order to assess its effectiveness
Special attention was paid to the low power consumption requirements and weight, leading to the selection of the digital signal controller (DSC), dsPIC33FJ128MC802, which was used with a clock speed of
Summary
José Fermi Guerrero-Castellanos 1, *, Heberto Madrigal-Sastre 1 , Sylvain Durand 2 , Lizeth Torres 3 and German Ardul Muñoz-Hernández 1. Received: 7 September 2013; in revised form: 22 October 2013 / Accepted: 22 October 2013 /
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have