Attitude Estimation Using Biased Gyro and Vector Measurements With Time-Varying Reference Vectors

@article{Grip2012AttitudeEU,
  title={Attitude Estimation Using Biased Gyro and Vector Measurements With Time-Varying Reference Vectors},
  author={H{\aa}vard Fj{\ae}r Grip and Thor I. Fossen and Tor Arne Johansen and Ali Saberi},
  journal={IEEE Transactions on Automatic Control},
  year={2012},
  volume={57},
  pages={1332-1338}
}
We present two results on attitude estimation using vector and rate gyro measurements. The first result concerns an observer previously presented by Hamel, Mahony, and Pflimlin, with proven stability results when i) the reference vectors are stationary; or ii) the gyro measurements are unbiased. We prove semiglobal stability without either of these assumptions when a parameter projection is added, and convergence from all initial attitudes when using a resetting strategy. The second result is… CONTINUE READING

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