Exponential attitude and gyro-bias estimation on the Special orthogonal group SO（3）
作者单位：The State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering ScienceCollege of EngineeringPeking University
会议名称：《第36届中国控制会议》
主办单位：Dalian University of Technology;Systems Engineering Society of China (SESC);Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA)
会议日期：2017年
学科分类：08[工学] 080101[工学-一般力学与力学基础] 0801[工学-力学（可授工学、理学学位）]
基 金：supported by National Natural Science Foundation (NNSF) of China under Grant 61374033
关 键 词：Attitude estimator Gyro-bias Special orthogonal group SO(3) Exponential stability Singular perturbation method
摘 要：This paper considers a nonlinear attitude estimator to estimate the attitude and gyro-bias exponentially for rigid body whose kinematics is evolved on the Special orthogonal group SO（3）, which can describe the attitude globally and *** to the asymptotic stabilities which are presented in the previous literature, the estimator presented in this paper has exponential convergence. The exponential stability analysis is demonstrated by singular perturbation method which divide the closed loop system into fast system and slow system. The results can be apply to the vehicles which are equipped with the low-cost inertial measurement unit（IMU） such as gyroscope. Finally, the theoretical results are verified through a numerical simulation.