# DESIGN AND IMPLEMENTATION OF A LOW-COST ATTITUDE AND HEADING NONLINEAR ESTIMATOR

### Philippe Martin, Erwan Salaün

#### 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.

#### References

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#### Paper Citation

#### in Harvard Style

Martin P. and Salaün E. (2008). **DESIGN AND IMPLEMENTATION OF A LOW-COST ATTITUDE AND HEADING NONLINEAR ESTIMATOR** . In *Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,* ISBN 978-989-8111-32-6, pages 53-61. DOI: 10.5220/0001502100530061

#### in Bibtex Style

@conference{icinco08,

author={Philippe Martin and Erwan Salaün},

title={DESIGN AND IMPLEMENTATION OF A LOW-COST ATTITUDE AND HEADING NONLINEAR ESTIMATOR},

booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,},

year={2008},

pages={53-61},

publisher={SciTePress},

organization={INSTICC},

doi={10.5220/0001502100530061},

isbn={978-989-8111-32-6},

}

#### in EndNote Style

TY - CONF

JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,

TI - DESIGN AND IMPLEMENTATION OF A LOW-COST ATTITUDE AND HEADING NONLINEAR ESTIMATOR

SN - 978-989-8111-32-6

AU - Martin P.

AU - Salaün E.

PY - 2008

SP - 53

EP - 61

DO - 10.5220/0001502100530061