Abstract
This paper introduces a novel algorithm to obtain attitude estimations from low cost inertial measurement units including 3-axis accelerometer, 3-axis gyroscope and 3-axis magnetometer. This nonlinear attitude estimator is derived from Lyapunov's theory and formulated in the special orthogonal group SO(3). The impact of the gyroscope bias is also assessed and an online estimator provided. The performance of the proposed estimator is validated and compared to current commonly used methods, namely the classical extended Kalman filter and two other nonlinear estimators in SO(3). Realistic simulations consider a quadcopter unmanned aerial vehicle subject to wind disturbances and whose sensors parameters have been identified from flight tests data.
Sign-in/Register to access full text options 
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 callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
