A quaternion-based Complementary Sliding Mode Observer for attitude estimation: application in free-ranging animal motions

Hassen Fourati (1) , Noureddine Manamanni (1) , Lissan Afilal (1) , Yves Handrich (2)

1 CRESTIC - Centre de Recherche en Sciences et Technologies de l'Information et de la Communication - EA 3804
2 DEPE-IPHC - Département Ecologie, Physiologie et Ethologie

This paper proposes a sensing method using a module of GAM sensors (3-axis Gyroscope, 3-axis Accelerometer, 3-axis Magnetometer) for more accurate measurement of the marine animal's posture. The application in mind is that of Bio-logging. A quaternion-based algorithm is developed through the complementary filtering theory in order to combine all information sources and to obtain an accurate estimation of the attitude. By considering the rigid body kinematic model, a Complementary Sliding Mode Observer (CSMO) is proposed, taking advantages from strapdown inertial measurements and vector observations. The proposed algorithm is based on the multiplicative quaternion correction technique. The performance of the CSMO is shown with a set of preliminary experiments on domestic animals through sensor measurements provided by an Inertial Measurement Unit.

Domaines: Automatique / Robotique

Hassen Fourati, Noureddine Manamanni, Lissan Afilal, Yves Handrich. A quaternion-based Complementary Sliding Mode Observer for attitude estimation: application in free-ranging animal motions. 49th IEEE Conference on Decision and Control, Dec 2010, Atlanta, United States. pp. 5056-5061. ⟨hal-00642928⟩