TY - GEN
T1 - Attitude estimation on SO (3) based on direct inertial measurements
AU - Hamel, Tarek
AU - Mahony, Robert
PY - 2006
Y1 - 2006
N2 - This paper considers the question of obtaining high quality attitude estimates from typical low cost inertial measurement units for applications in control of unmanned aerial vehicles. A nonlinear complementary filter exploiting the structure of Special Orthogonal Group S0(3) is proposed. The filter is expressed explicitly in terms of direct and untreated measurements. For a typical low cost inertial measurement where two inertial directions are measured (gravitational and magnetic fields) along with angular velocity, it is shown that the filter is well conditioned. If only a single direction is available (typically the gravitational field) along with angular velocity, it is shown that the full gyro bias vector is correctly estimated and that the estimated orientation converges to a set consistent with the measurements. Experimental results, for flight data from the HoverEye
AB - This paper considers the question of obtaining high quality attitude estimates from typical low cost inertial measurement units for applications in control of unmanned aerial vehicles. A nonlinear complementary filter exploiting the structure of Special Orthogonal Group S0(3) is proposed. The filter is expressed explicitly in terms of direct and untreated measurements. For a typical low cost inertial measurement where two inertial directions are measured (gravitational and magnetic fields) along with angular velocity, it is shown that the filter is well conditioned. If only a single direction is available (typically the gravitational field) along with angular velocity, it is shown that the full gyro bias vector is correctly estimated and that the estimated orientation converges to a set consistent with the measurements. Experimental results, for flight data from the HoverEye
UR - http://www.scopus.com/inward/record.url?scp=33845665818&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2006.1642025
DO - 10.1109/ROBOT.2006.1642025
M3 - Conference contribution
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2170
EP - 2175
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -