论文标题
使用间歇和多速率矢量测量的非线性态度估计
Nonlinear Attitude Estimation Using Intermittent and Multi-Rate Vector Measurements
论文作者
论文摘要
本文考虑了使用间歇性和多速率惯性矢量测量以及连续（高速率）角速度测量值的刚性身体系统的非线性态度估计问题。提出了两种类型的混合态度观察者，因此提出了（3）$。首先，我们提出了一个混合态度观察者，即使用几乎全局的输入到状态稳定性的概念可以保证几乎全局的渐近稳定性。此后，通过引入开关机制来实现全球渐近稳定性，可以扩展这种混合态度观察者。提出了模拟和实验结果，以说明所提出的混合观察者的性能。
This paper considers the problem of nonlinear attitude estimation for a rigid body system using intermittent and multi-rate inertial vector measurements as well as continuous (high-rate) angular velocity measurements. Two types of hybrid attitude observers on Lie group $SO(3)$ are proposed. First, we propose a hybrid attitude observer where almost global asymptotic stability is guaranteed using the notion of almost global input-to-state stability on manifolds. Thereafter, this hybrid attitude observer is extended by introducing a switching mechanism to achieve global asymptotic stability. Both simulation and experimental results are presented to illustrate the performance of the proposed hybrid observers.
