Velocity Aided Attitude and Equivariant Observer Design
Speaker: Rob Mahoney, ANU
Accurate attitude estimation is by far the most important
subsystem in the avionics system for a Remotely Piloted Aerial
System (RPAS). The standard inertial measurement unit, measuring
inertial acceleration and angular rate, does not provide direct
attitude information, although the angular rate provides the
internal model for an attitude observer and for a stationary
vehicle the accelerometer measures the direction of gravity.
Magnetometers provide direct attitude information, but are
unreliable and particularly subject to local magnetic fields.
Global positioning systems are unreliable in position but can be
used to provide accurate velocity information, either from direct
differentiation of the position, or more commonly, from doppler
shift on the GPS carrier frequency. Inertial velocity is a
direction measurement and the velocity aided attitude problem is
one where this state measurement is used to drive an accurate
attitude estimation. The problem is challenging due to the
non-linear coupled nature of the system. This talk presents recent
work that exploits new symmetry structures for equivariant systems
to build a simple, robust, and highly effective velocity aided
attitude observer. The proposed observer does not require
computation of a Riccati equation and is (almost) globally
asymptotically stable.
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- Canberra, Australian Capital Territory
- Australia
- Building: Brian Anderson Building
- Room Number: Seminar Room, Ground Floor