IEEE - Institute of Electrical and Electronics Engineers, Inc. - Nonlinear attitude observers on SO(3) for complementary and compatible measurements: A theoretical study

2009 Joint 48th IEEE Conference on Decision and Control (CDC) and 28th Chinese Control Conference (CCC)

Author(s): Mahony, R. ; Hamel, T. ; Trumpf, J. ; Lageman, C.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 December 2009
Conference Location: Shanghai, China, China
Conference Date: 15 December 2009
Page(s): 6,407 - 6,412
ISBN (CD): 978-1-4244-3872-3
ISBN (Paper): 978-1-4244-3871-6
ISSN (CD): 0191-2216
ISSN (Paper): 0191-2216
DOI: 10.1109/CDC.2009.5399821
Regular:

This paper considers the question of designing an attitude observer exploiting the structure of the Special Orthogonal Group SO(3) for both inertial and body-fixedframe measurements. We consider... View More

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