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An Invariant Observer for Earth-Velocity-Aided Attitude Heading Reference Systems

Authors: Philippe Martin, Erwan Salaün, 17th World Congress The International Federation of Automatic Control, July 2008, Seoul, pp. 9857-9864
In this paper we propose an invariant nonlinear observer (i.e. a “filter”) for estimating the velocity vector and orientation of a flying rigid body, using measurements from low-cost Earth-fixed velocity, inertial and magnetic sensors. It has a nice geometric structure which respects meaningful physical symmetries of the system. It can be seen as an easier-to-tune and computationally much simpler alternative to an Extended Kalman Filter.
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BibTeX:
@Proceedings{,
author = {Philippe Martin, Erwan Salaün},
editor = {},
title = {An Invariant Observer for Earth-Velocity-Aided Attitude Heading Reference Systems},
booktitle = {17th World Congress The International Federation of Automatic Control},
volume = {},
publisher = {},
address = {Seoul},
pages = {9857-9864},
year = {2008},
abstract = {In this paper we propose an invariant nonlinear observer (i.e. a “filter”) for estimating the velocity vector and orientation of a flying rigid body, using measurements from low-cost Earth-fixed velocity, inertial and magnetic sensors. It has a nice geometric structure which respects meaningful physical symmetries of the system. It can be seen as an easier-to-tune and computationally much simpler alternative to an Extended Kalman Filter.},
keywords = {observers, sensor fusion, nonlinear filters, strapdown systems, invariance, inertial navigation, extended Kalman filters}}