Authors:
Philippe Martin
and
Erwan Salaün
Affiliation:
Centre Automatique et Systèmes, École des Mines de Paris, France
Keyword(s):
Observers, sensor fusion, nonlinear filters, strapdown systems, invariance, inertial navigation, extended Kalman filters.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Nonlinear Signals and Systems
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
In this paper we propose a nonlinear observer (i.e. a “filter”) for estimating the orientation of a flying rigid body, using measurements from low-cost inertial and magnetic sensors. It has by design a nice geometrical structure appealing from an engineering viewpoint; it is easy to tune, computationally very economic, and with guaranteed (at least local) convergence around every trajectory. Moreover it behaves sensibly in the presence of acceleration and magnetic disturbances. We illustrate its good performance on experimental comparisons with a commercial system, and demonstrate its simplicity by implementing it on a 8-bit microcontroller.