Invariant observers for attitude and heading estimation from low-cost inertial and magnetic sensors
Résumé
In this paper we propose invariant nonlinear observers for attitude and heading estimation using directly the measurements from low-cost inertial and magnetic sensors. In particular we propose a simple and easy-to-tune observer where moreover the estimated attitude behaves well even in the presence of magnetic disturbances.
Domaines
Automatique / Robotique
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