Attitude Estimation from Vector Measurements: Necessary and Sufficient Conditions and Convergent Observer Design

Yi, B; Wang, L; Manchester, IR

Attitude Estimation from Vector Measurements: Necessary and Sufficient Conditions and Convergent Observer Design

Yi, B

Wang, L Manchester, IR

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Publisher:: Elsevier
Publication Type:: Journal Article
Citation:: IFAC-PapersOnLine, 2023, 56, (1), pp. 343-348
Issue Date:: 2023-01-01

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Field	Value	Language
dc.contributor.author	Yi, B https://orcid.org/0000-0002-0517-9519
dc.contributor.author	Wang, L
dc.contributor.author	Manchester, IR
dc.date.accessioned	2024-01-09T05:56:57Z
dc.date.available	2024-01-09T05:56:57Z
dc.date.issued	2023-01-01
dc.identifier.citation	IFAC-PapersOnLine, 2023, 56, (1), pp. 343-348
dc.identifier.issn	2405-8963
dc.identifier.issn	2405-8963
dc.identifier.uri	http://hdl.handle.net/10453/174163
dc.description.abstract	The paper addresses the problem of attitude estimation for rigid bodies using (possibly time-varying) vector measurements, for which we provide a necessary and sufficient condition of distinguishability. Such a condition is shown to be strictly weaker than those previously used for attitude observer design. Thereafter, we show that even for the single vector case the resulting condition is sufficient to design almost globally convergent attitude observers, and an explicit design is obtained. To overcome the weak excitation issue, the design makes full use of historical information. Simulation results illustrate the accurate estimation despite with noisy measurements.
dc.language	en
dc.publisher	Elsevier
dc.relation.ispartof	IFAC-PapersOnLine
dc.relation.isbasedon	10.1016/j.ifacol.2023.02.058
dc.rights	info:eu-repo/semantics/openAccess
dc.subject.classification	4007 Control engineering, mechatronics and robotics
dc.subject.classification	4008 Electrical engineering
dc.title	Attitude Estimation from Vector Measurements: Necessary and Sufficient Conditions and Convergent Observer Design
dc.type	Journal Article
utslib.citation.volume	56
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
utslib.copyright.status	open_access	*
dc.date.updated	2024-01-09T05:56:56Z
pubs.issue	1
pubs.publication-status	Published
pubs.volume	56
utslib.citation.issue	1

Abstract:

The paper addresses the problem of attitude estimation for rigid bodies using (possibly time-varying) vector measurements, for which we provide a necessary and sufficient condition of distinguishability. Such a condition is shown to be strictly weaker than those previously used for attitude observer design. Thereafter, we show that even for the single vector case the resulting condition is sufficient to design almost globally convergent attitude observers, and an explicit design is obtained. To overcome the weak excitation issue, the design makes full use of historical information. Simulation results illustrate the accurate estimation despite with noisy measurements.

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http://hdl.handle.net/10453/174163