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Earth Velocity and Rigid-Body Attitude Estimation on SO(3) Using Biased Measurements
Reis, Joel1; Batista, Pedro2; Oliveira, Paulo3; Silvestre, Carlos1
2022-03
Source PublicationIEEE/ASME Transactions on Mechatronics
ISSN1083-4435
Abstract

This article addresses the problem of simultaneously estimating: 1) the attitude of a rigid body on the special orthogonal group of order 3 ($\mathsf {SO}(3)$); 2) the Earth’s spin vector expressed in body-fixed coordinates; and 3) a pair of time-varying sensor measurement biases. The available sensor readings include biased angular velocity measurements collected from a set of high-grade rate gyros sensitive to the rotation of the planet and biased vector observations of some known inertial reference field. The estimation solution consists of a Lagrangian-based pseudo Kalman filtering routine, which is partially constrained to $\mathsf {SO}(3)$ vis-á-vis the attitude. Most noticeably, the geometric relationship between the Earth’s angular velocity and the inertial field is leveraged to relax common practical, as well as theoretical, demands closely linked to conventional attitude estimation solutions, namely, the need for explicit body-fixed measurements of two inertial vector fields. The proposed algorithm is validated through a set of realistic simulations. Experimental results are also included to further demonstrate the performance of this strategy in a real-world application.

KeywordAngular Velocity Earth Estimation Estimation Extraterrestrial Measurements Kalman Filters Kalman Filters Marine Navigation Rotation Measurement Unmanned Underwater Vehicles Velocity Measurement
DOI10.1109/TMECH.2022.3152220
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS IDWOS:000767848500001
Scopus ID2-s2.0-85126283838
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Cited Times [WOS]:0   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Corresponding AuthorSilvestre, Carlos
Affiliation1.Department of Electrical and Computer Engineering of the Faculty of Science and Technology, University of Macau, Taipa, Macau China.
2.Institute for Systems and Robotics, Instituto Superior Técnico, Universidade de Lisboa 1049-001, Lisboa Portugal.
3.Institute for Systems and Robotics, Instituto Superior Técnico, Universidade de Lisboa 1049-001, Lisboa Portugal. Associated Laboratory for Energy, Transports and Aeronautics, Institute of Mechanical Engineering, Institute for Systems and Robotics, Instituto Superior Técnico, Universidade de Lisboa 1049-001, Lisboa Portugal.
First Author AffilicationFaculty of Science and Technology
Corresponding Author AffilicationFaculty of Science and Technology
Recommended Citation
GB/T 7714
Reis, Joel,Batista, Pedro,Oliveira, Paulo,et al. Earth Velocity and Rigid-Body Attitude Estimation on SO(3) Using Biased Measurements[J]. IEEE/ASME Transactions on Mechatronics,2022.
APA Reis, Joel,Batista, Pedro,Oliveira, Paulo,&Silvestre, Carlos.(2022).Earth Velocity and Rigid-Body Attitude Estimation on SO(3) Using Biased Measurements.IEEE/ASME Transactions on Mechatronics.
MLA Reis, Joel,et al."Earth Velocity and Rigid-Body Attitude Estimation on SO(3) Using Biased Measurements".IEEE/ASME Transactions on Mechatronics (2022).
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