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.
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Conference papers
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https://hal.inria.fr/hal-01188631
Contributor : Hassen Fourati <>
Submitted on : Monday, August 31, 2015 - 12:04:42 PM
Last modification on : Friday, August 23, 2019 - 1:16:05 AM

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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. ⟨hal-01188631⟩

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