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Attitude observers aided by implicit measurements of the Earth angular velocity
Joel Reis1; Carlos Silvestre1,2; Pedro Batista3; Paulo Oliveira3,4
2021-01-11
Conference Name2020 59th IEEE Conference on Decision and Control (CDC)
Source PublicationProceedings of the IEEE Conference on Decision and Control
Volume2020-December
Pages1300-1305
Conference Date14-18 Dec. 2020
Conference PlaceJeju, 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.

DOI10.1109/CDC42340.2020.9304161
URLView the original
Language英語English
Scopus ID2-s2.0-85099880416
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Document TypeConference paper
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.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 AffilicationFaculty 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.
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