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

Philippe Martin (1) , Erwan Salaün (1)

1 CAS - Centre Automatique et Systèmes

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.

Domaines: Automatique / Robotique

Philippe Martin, Erwan Salaün. Invariant observers for attitude and heading estimation from low-cost inertial and magnetic sensors. 46th IEEE Conference on Decision and Control, Dec 2007, New Orleans, United States. pp.1039-1045, ⟨10.1109/CDC.2007.4435006⟩. ⟨hal-00533306⟩