@inproceedings{09d56e832d534397b92694e2755086cd,
title = "Nonlinear attitude estimation with measurement decoupling and anti-windup gyro-bias compensation",
abstract = "Any low-cost IMU is subject to biased measurement in its gyroscopes. This paper presents a nonlinear attitude observer which incorporates anti-windup gyro-bias compensation. It also provides an extension of the decoupling strategy of IMU measurement recently proposed in the literature by providing almost global stability proof along with a comprehensive study of the decoupling strategy. Simulation and experimental results are given to illustrate the concept.",
author = "Hua, {Minh Duc} and Konrad Rudin and Guillaume Ducard and Tarek Hamel and Robert Mahony",
year = "2011",
doi = "10.3182/20110828-6-IT-1002.00817",
language = "English",
isbn = "9783902661937",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
publisher = "IFAC Secretariat",
number = "1 PART 1",
pages = "2972--2978",
booktitle = "Proceedings of the 18th IFAC World Congress",
edition = "1 PART 1",
}