A Robust Nonlinear Observer for Real-Time Attitude Estimation Using Low-Cost MEMS Inertial Sensors

This paper deals with the attitude estimation of a rigid body equipped with angular velocity sensors and reference vector sensors. A quaternion-based nonlinear observer is proposed in order to fuse all information sources and to obtain an accurate estimation of the attitude. It is shown that the obs...

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Egile Nagusiak:	Lizeth Torres, German Ardul Muñoz-Hernández, Sylvain Durand, Heberto Madrigal-Sastre, José Fermi Guerrero-Castellanos
Formatua:	Artigo
Hizkuntza:	Inglês
Argitaratua:	MDPI AG 2013-11-01
Saila:	Sensors
Gaiak:	nonlinear attitude observer quaternion MEMS IMU Attitude and Heading Reference System (AHRS) real-time implementation
Sarrera elektronikoa:	http://www.mdpi.com/1424-8220/13/11/15138
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