Descriptor Approach for Attitude Estimation

Aida Makni 1 Alain Y. Kibangou 1 Hassen Fourati 1
1 NECS - Networked Controlled Systems
Inria Grenoble - Rhône-Alpes, GIPSA-DA - Département Automatique
Abstract : In this paper, a new modeling and filtering approachfor rigid body attitude estimation is investigated. Incontrast to the current state-of-the art where the process modelisdrivenbygyroscope measurements, weproposeanalternativemodeling formulation where the process model is fed by themagnetometer measurements. The resulting dynamic modeltakes the form of a descriptor system, also known as singularsystem.Basedonthismodelandusingthequaternionformalismwe derive a recursive filter whose performance is validatedthrough numerical and experimental tests.
Type de document :
Communication dans un congrès
IEEE Multi-Conference on Systems and Control (MSC 2015), Sep 2015, Sydney, Australia. 2015
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https://hal.inria.fr/hal-01188631
Contributeur : Hassen Fourati <>
Soumis le : lundi 31 août 2015 - 12:04:42
Dernière modification le : mardi 13 décembre 2016 - 15:45:05

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  • HAL Id : hal-01188631, version 1

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Aida Makni, Alain Y. Kibangou, Hassen Fourati. Descriptor Approach for Attitude Estimation. IEEE Multi-Conference on Systems and Control (MSC 2015), Sep 2015, Sydney, Australia. 2015. <hal-01188631>

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