Abstract

This paper considers a nonlinear attitude estimator to estimate the attitude and gyro-bias exponentially for rigid body whose kinematics is evolved on the Special orthogonal group SO (3), which can describe the attitude globally and uniquely. Compared to the asymptotic stabilities which are presented in the previous literature, the estimator presented in this paper has exponential convergence. The exponential stability analysis is demonstrated by singular perturbation method which divide the closed loop system into fast system and slow system. The results can be apply to the vehicles which are equipped with the low-cost inertial measurement unit (IMU) such as gyroscope. Finally, the theoretical results are verified through a numerical simulation.

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