Affiliated with RC | false |
Status | 已發表Published |
Attitude observers aided by implicit measurements of the Earth angular velocity | |
Joel Reis1; Carlos Silvestre1,2![]() | |
2021-01-11 | |
Conference Name | 2020 59th IEEE Conference on Decision and Control (CDC) |
Source Publication | Proceedings of the IEEE Conference on Decision and Control |
Volume | 2020-December |
Pages | 1300-1305 |
Conference Date | 14-18 Dec. 2020 |
Conference Place | Jeju, Korea (South) |
Abstract | In this tutorial, a new class of attitude estimation solutions is presented to determine the orientation of a robotic platform resorting only to a set of triaxial gyroscopes and an additional measurement of a constant inertial vector. This approach poses a significant advantage in terms of setup design and reduced mission costs since only one inertial measurement is required, in contrast with existing solutions that require at least two of these. Pertinent examples of viable applications include navigation of submarines or large ships, assisting autonomous robots in precise maneuvers, inertial platform stabilization, etc. The novelty of the solutions proposed herein exploit the well-known inertial information about the Earth's angular velocity by using high-grade gyroscopes that are sensitive to the planet's spin. Experimental results are presented to demonstrate the good performance achieved by the algorithms. |
DOI | 10.1109/CDC42340.2020.9304161 |
URL | View the original |
Language | 英語English |
Scopus ID | 2-s2.0-85099880416 |
Fulltext Access | |
Citation statistics | |
Document Type | Conference paper |
Collection | DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING |
Affiliation | 1.Faculty of Science and Technology, University of Macau, Taipa, Macao, China 2.Instituto Superior Técnico, Universidade de Lisboa, Portugal 3.Institute for Systems and Robotics, LARSyS, Instituto Superior Técnico, Universidade de Lisboa, Lisboa, Portugal 4.LAETA — Associated Laboratory for Energy, Transports and Aeronautics, IDMEC — Institute of Mechanical Engineering, Instituto Superior Técnico, Universidade deLisboa, Lisboa, Portugal |
First Author Affilication | Faculty of Science and Technology |
Recommended Citation GB/T 7714 | Joel Reis,Carlos Silvestre,Pedro Batista,et al. Attitude observers aided by implicit measurements of the Earth angular velocity[C],2021:1300-1305. |
APA | Joel Reis,Carlos Silvestre,Pedro Batista,&Paulo Oliveira.(2021).Attitude observers aided by implicit measurements of the Earth angular velocity.Proceedings of the IEEE Conference on Decision and Control,2020-December,1300-1305. |
Files in This Item: | There are no files associated with this item. |
Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.
Edit Comment