Abstract
We consider the classical problem of estimating the attitude and gyro biases of a rigid body from at least two vector measurements and a triaxial rate gyro. We propose a solution based on a dynamic nonlinear estimator designed without respecting the geometry of \(\mathrm {SO(3)}\), which achieves uniform global exponential convergence. The convergence is established thanks to a dynamically scaled Lyapunov function.
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Martin, P., Sarras, I. (2017). Global Exponential Attitude and Gyro Bias Estimation from Vector Measurements. In: Nielsen, F., Barbaresco, F. (eds) Geometric Science of Information. GSI 2017. Lecture Notes in Computer Science(), vol 10589. Springer, Cham. https://doi.org/10.1007/978-3-319-68445-1_40
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DOI: https://doi.org/10.1007/978-3-319-68445-1_40
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