This paper investigates the problem of continuous attitude estimation on $SO(3)$ using continuous angular velocity and linear acceleration measurements as well as intermittent linear velocity and inertial vector measurements. First, we propose a nonlinear observer for the case where all the measurements are continuous and almost global asymptotic stability (AGAS) is shown using the notion of almost global input-to-state stability (ISS) on manifolds. Thereafter, a hybrid attitude observer, with AGAS guarantees, is proposed in terms of intermittent linear velocity and vector measurements. Numerical simulation results are presented to illustrate the performance of the proposed hybrid observer.
翻译:本文调查了利用连续角速度和线性加速度测量以及间歇线性速度和惯性矢量测量对USSO(3)美元的持续姿态估计问题,首先,我们建议对所有测量均为连续连续和几乎全球无症状稳定性(AGAS)的情况作非线性观察者,使用几乎全球输入至国家稳定的概念来显示这些测量的元件。随后,提议以间歇线性速度和矢量测量为混合姿态观察者,并在AGAS保证下,以间歇线性速度和矢量测量为混合观察者,提出数字模拟结果,以说明拟议混合观察者的业绩。