Observer and first-order low-pass filter based attitude estimation for rigid bodies subject to external acceleration

Tristan Bonargent (1) , Tomas Menard (1) , Eric Pigeon (1) , Olivier Gehan (1)

1 LAC - Laboratoire d'automatique de Caen

In this paper, we consider the problem of estimating the attitude of a rigid body who is subject to non-negligible external acceleration, based on the measurements provided by a classical IMU unit: gyroscope, accelerometer and magnometer. Two algorithms are proposed, based on the combination of a low-pass filter in the fixed inertial frame and an observer. The stability of the proposed schemes are proved, based on a Lyapunov approach. Simulations are provided in order to illustrate the performances of the proposed observers.

Mots clés: Observers; Acceleration; Accelerometers; Perturbation methods; Velocity measurement; Convergence; Attitude measurement; Gyroscopes; Low-pass filters; Magnetometers

Domaines: Automatique / Robotique

Tristan Bonargent, Tomas Menard, Eric Pigeon, Olivier Gehan. Observer and first-order low-pass filter based attitude estimation for rigid bodies subject to external acceleration. 2019 IEEE 58th Conference on Decision and Control (CDC), Dec 2019, Nice, France. pp.629-634, ⟨10.1109/CDC40024.2019.9030202⟩. ⟨hal-02276192⟩