Robust Hybrid Attitude and Gyro-Bias Observer on Quaternions
Author(s): Tong, X (Tong, Xin); Chen, M (Chen, Miao); Yang, FH (Yang, Fuhua)
Source: IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS Volume: 69 Issue: 8 Pages: 8545-8553 DOI: 10.1109/TIE.2021.3108713 Published: AUG 2022
Abstract: Existing research has reported that the topological obstructions pose inherent difficulty to attitude estimation. This article copes with the problem of obtaining a good estimation of attitude and gyro-bias using inertial measurements. First, we propose a quaternion-based scheme for the design and stability analysis of nonlinear attitude observers. Under the scheme, we expose the potential pitfalls of traditional observers: almost global asymptotic stability (GAS) and slow convergence for a continuous state-feedback observer, nonrobustness to arbitrary small measurement noises for a discontinuous state-feedback observer. Second, to address these limitations, we develop a generic quaternion-based hybrid scheme with guaranteed GAS and robustness to measurement noises, in the sense that knowledge of a specific potential function suffices to design an attitude and gyro-bias observer with desired properties. Furthermore, we give a new observer within the scheme. Simulation and experimental results demonstrate the fast convergence and robustness of the proposed observer.
Accession Number: WOS:000764880700097
ISSN: 0278-0046
eISSN: 1557-9948
