A Robust Nonlinear Observer for Real-Time Attitude Estimation Using Low-Cost MEMS Inertial Sensors
This paper deals with the attitude estimation of a rigid body equipped with angular velocity sensors and reference vector sensors. A quaternion-based nonlinear observer is proposed in order to fuse all information sources and to obtain an accurate estimation of the attitude. It is shown that the obs...
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| Format: | Article |
| Language: | English |
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MDPI AG
2013-11-01
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| Series: | Sensors |
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| Online Access: | http://www.mdpi.com/1424-8220/13/11/15138 |
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| author | Lizeth Torres German Ardul Muñoz-Hernández Sylvain Durand Heberto Madrigal-Sastre José Fermi Guerrero-Castellanos |
| author_facet | Lizeth Torres German Ardul Muñoz-Hernández Sylvain Durand Heberto Madrigal-Sastre José Fermi Guerrero-Castellanos |
| author_sort | Lizeth Torres |
| collection | DOAJ |
| description | This paper deals with the attitude estimation of a rigid body equipped with angular velocity sensors and reference vector sensors. A quaternion-based nonlinear observer is proposed in order to fuse all information sources and to obtain an accurate estimation of the attitude. It is shown that the observer error dynamics can be separated into two passive subsystems connected in “feedback”. Then, this property is used to show that the error dynamics is input-to-state stable when the measurement disturbance is seen as an input and the error as the state. These results allow one to affirm that the observer is “robustly stable”. The proposed observer is evaluated in real-time with the design and implementation of an Attitude and Heading Reference System (AHRS) based on low-cost MEMS (Micro-Electro-Mechanical Systems) Inertial Measure Unit (IMU) and magnetic sensors and a 16-bit microcontroller. The resulting estimates are compared with a high precision motion system to demonstrate its performance. |
| first_indexed | 2024-04-13T06:17:11Z |
| format | Article |
| id | doaj.art-59e2bfe84c7742cc876f69097d8d3575 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-13T06:17:11Z |
| publishDate | 2013-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-59e2bfe84c7742cc876f69097d8d35752022-12-22T02:58:47ZengMDPI AGSensors1424-82202013-11-011311151381515810.3390/s131115138A Robust Nonlinear Observer for Real-Time Attitude Estimation Using Low-Cost MEMS Inertial SensorsLizeth TorresGerman Ardul Muñoz-HernándezSylvain DurandHeberto Madrigal-SastreJosé Fermi Guerrero-CastellanosThis paper deals with the attitude estimation of a rigid body equipped with angular velocity sensors and reference vector sensors. A quaternion-based nonlinear observer is proposed in order to fuse all information sources and to obtain an accurate estimation of the attitude. It is shown that the observer error dynamics can be separated into two passive subsystems connected in “feedback”. Then, this property is used to show that the error dynamics is input-to-state stable when the measurement disturbance is seen as an input and the error as the state. These results allow one to affirm that the observer is “robustly stable”. The proposed observer is evaluated in real-time with the design and implementation of an Attitude and Heading Reference System (AHRS) based on low-cost MEMS (Micro-Electro-Mechanical Systems) Inertial Measure Unit (IMU) and magnetic sensors and a 16-bit microcontroller. The resulting estimates are compared with a high precision motion system to demonstrate its performance.http://www.mdpi.com/1424-8220/13/11/15138nonlinear attitude observerquaternionMEMS IMUAttitude and Heading Reference System (AHRS)real-time implementation |
| spellingShingle | Lizeth Torres German Ardul Muñoz-Hernández Sylvain Durand Heberto Madrigal-Sastre José Fermi Guerrero-Castellanos A Robust Nonlinear Observer for Real-Time Attitude Estimation Using Low-Cost MEMS Inertial Sensors Sensors nonlinear attitude observer quaternion MEMS IMU Attitude and Heading Reference System (AHRS) real-time implementation |
| title | A Robust Nonlinear Observer for Real-Time Attitude Estimation Using Low-Cost MEMS Inertial Sensors |
| title_full | A Robust Nonlinear Observer for Real-Time Attitude Estimation Using Low-Cost MEMS Inertial Sensors |
| title_fullStr | A Robust Nonlinear Observer for Real-Time Attitude Estimation Using Low-Cost MEMS Inertial Sensors |
| title_full_unstemmed | A Robust Nonlinear Observer for Real-Time Attitude Estimation Using Low-Cost MEMS Inertial Sensors |
| title_short | A Robust Nonlinear Observer for Real-Time Attitude Estimation Using Low-Cost MEMS Inertial Sensors |
| title_sort | robust nonlinear observer for real time attitude estimation using low cost mems inertial sensors |
| topic | nonlinear attitude observer quaternion MEMS IMU Attitude and Heading Reference System (AHRS) real-time implementation |
| url | http://www.mdpi.com/1424-8220/13/11/15138 |
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