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Descriptor Approach for Attitude Estimation

Aida Makni 1 Alain 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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Contributor : Hassen Fourati Connect in order to contact the contributor
Submitted on : Monday, August 31, 2015 - 12:04:42 PM
Last modification on : Saturday, June 25, 2022 - 7:42:52 PM


  • HAL Id : hal-01188631, version 1



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



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