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Attitude Estimation Using Synchronous Intermittent Measurements


Soulaimane Berkane
University of Western Ontario

September 25, 2017 at  11:00 AM
McConnell Engineering Room 437

We propose a new attitude estimation scheme, evolving on SO(3), using intermittent vector measurements; available at some irregular instants of time. The angular velocity measurements are used to continuously predict the attitude which is further corrected when the vector measurements in the body frame of some known inertial vectors are received. This intermittent correction action takes a form of a state jump on SO(3) and results in an autonomous hybrid closed-loop system. We show exponential stability of the attitude estimation error dynamics for all initial conditions except initial attitude errors of 180 degrees angles. The attitude jumps are smoothed using a nonlinear smoother on SO(3) without affecting the stability of the cascaded observer-smoother system. Simulation results are provided to show the effectiveness of the proposed attitude estimation method in the presence of sporadic measurements and a comparison with some existing methods is carried out.