Nonlinear Attitude Estimation Using Intermittent Linear Velocity and Vector Measurements
This work addresses attitude estimation for systems like robotics or aerospace, but it appears incremental as it extends existing methods to handle intermittent measurements with stability guarantees.
The paper tackles the problem of continuous attitude estimation on SO(3) by developing a nonlinear observer for continuous measurements and a hybrid observer for intermittent linear velocity and vector measurements, achieving almost global asymptotic stability (AGAS) with numerical simulations to demonstrate performance.
This paper investigates the problem of continuous attitude estimation on $SO(3)$ using continuous angular velocity and linear acceleration measurements as well as intermittent linear velocity and inertial vector measurements. First, we propose a nonlinear observer for the case where all the measurements are continuous and almost global asymptotic stability (AGAS) is shown using the notion of almost global input-to-state stability (ISS) on manifolds. Thereafter, a hybrid attitude observer, with AGAS guarantees, is proposed in terms of intermittent linear velocity and vector measurements. Numerical simulation results are presented to illustrate the performance of the proposed hybrid observer.