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Invariant observers for attitude and heading estimation from low-cost inertial and magnetic sensors

Authors: Philippe Martin, Erwan Salaün, 46th IEEE Conference on Decision and Control, pp 1039-1045, December 2007 DOI: 10.1109/CDC.2007.4435006
In this paper we propose invariant nonlinear observers for attitude and heading estimation using directly the measurements from low-cost inertial and magnetic sensors. In particular we propose a simple and easy-to-tune observer where moreover the estimated attitude behaves well even in the presence of magnetic disturbances.
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BibTeX:
@Proceedings{,
author = {Philippe Martin, Erwan Salaün},
editor = {},
title = {Invariant observers for attitude and heading estimation from low-cost inertial and magnetic sensors},
booktitle = {46th IEEE Conference on Decision and Control},
volume = {},
publisher = {},
address = {},
pages = {1039-1045},
year = {2008},
abstract = {In this paper we propose invariant nonlinear observers for attitude and heading estimation using directly the measurements from low-cost inertial and magnetic sensors. In particular we propose a simple and easy-to-tune observer where moreover the estimated attitude behaves well even in the presence of magnetic disturbances.},
keywords = {}}