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A Global Interconnected Observer for Attitude and Gyro Bias Estimation with Vector Measurements
Huijuan Guo1, Huiying Liu1, Xiaoxiang Hu1
1School of Automation, Northwestern Polytechnical University, Xi'an 710072, China.
Sensors (Basel, Switzerland)
|November 18, 2020
Summary
This study introduces a new observer for accurate attitude and gyro bias estimation from noisy sensor data. It demonstrates improved performance in challenging, high-noise environments.
Area of Science:
- Control Systems Engineering
- Robotics
- Navigation Systems
Background:
- Accurate estimation of attitude and gyro bias is critical for autonomous systems.
- High-noise vector measurements pose significant challenges to traditional estimation algorithms.
Purpose of the Study:
- To develop a novel interconnected observer for robust attitude and gyro bias estimation.
- To enhance estimation accuracy in the presence of high-level noise from sensors.
Main Methods:
- Derivation of the observer based on nonlinear and linear cascade systems theory.
- Design of an auxiliary observer with time-varying gains considering sensor noise.
- Analysis of error dynamics for global exponential stability and robustness.
Main Results:
- The proposed observer ensures convergence and boundedness of estimation errors.
- Time-varying gains improve estimation accuracy under high-noise conditions.
- Simulations confirm superior performance in both transient and steady-state phases.
Conclusions:
- The novel interconnected observer provides reliable attitude and gyro bias estimates.
- The approach effectively mitigates the impact of high-noise vector measurements.
- This method offers a robust solution for navigation and control applications.
Keywords:
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