Angular Velocity Nonlinear Observer From Single Vector Measurements

@article{Magnis2016AngularVN,
  title={Angular Velocity Nonlinear Observer From Single Vector Measurements},
  author={Lionel Magnis and Nicolas Petit},
  journal={IEEE Transactions on Automatic Control},
  year={2016},
  volume={61},
  pages={2473-2483}
}
The paper proposes a technique to estimate the angular velocity of a rigid body from single vector measurements. Compared to the approaches presented in the literature, it does not use attitude information nor rate gyros as inputs. Instead, vector measurements are directly filtered through a nonlinear observer estimating the angular velocity. Convergence is established using a detailed analysis of a linear-time varying dynamics appearing in the estimation error equation. This equation stems… CONTINUE READING
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