Attitude estimation with gyros-bias compensation using low-cost sensors

We present in this paper a new algorithm for attitude and gyro-bias estimation of a rigid body in rotation in space using low-cost sensors. The algorithm is based on sliding mode nonlinear observer that provides in the same time estimates of the gyro-bias and the actual attitude of the rigid body. This algorithm was developed in order to address the well-known problem of the weak dynamics of the attitude sensors (inclinometers), which can be modeled by low pass filters, and of the measurement bias of the gyros. In its design the observer uses biased gyro measurement and attitude measurements, provided by the low-cost sensors. The stability of the observer was proven using Lyapunov stability method. The effectiveness of the algorithm has been shown from experimental tests using a rotary platform equipped with several sensors with axes of rotation coincide with orientation of the rigid body.

[1]  Abdelaziz Benallegue,et al.  Sliding mode observer to estimate both the attitude and the gyro-bias by using low-cost sensors , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[2]  Xiaoming Hu,et al.  Nonlinear pitch and roll estimation for walking robots , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[3]  Marko Topič,et al.  Calibration and data fusion solution for the miniature attitude and heading reference system , 2007 .

[4]  Rogelio Lozano,et al.  Real-time stabilization and tracking of a four-rotor mini rotorcraft , 2004, IEEE Transactions on Control Systems Technology.

[5]  Abdelhamid Tayebi,et al.  Attitude stabilization of a VTOL quadrotor aircraft , 2006, IEEE Transactions on Control Systems Technology.

[6]  Christopher Geyer.  The Attitude Control Problem , 2022 .

[7]  J. Barbot,et al.  Sliding mode observer for triangular input form , 1996, Proceedings of 35th IEEE Conference on Decision and Control.

[8]  Robert M. Sanner,et al.  A coupled nonlinear spacecraft attitude controller and observer with an unknown constant gyro bias and gyro noise , 2003, IEEE Trans. Autom. Control..

[9]  Dong Sun,et al.  A linear fusion algorithm for attitude determination using low cost MEMS-based sensors , 2007 .

[10]  Xiaoming Hu,et al.  Nonlinear state estimation for rigid-body motion with low-pass sensors , 2000 .

[11]  T. Madani,et al.  Control of a Quadrotor Mini-Helicopter via Full State Backstepping Technique , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[12]  Robert E. Mahony,et al.  Nonlinear Complementary Filters on the Special Orthogonal Group , 2008, IEEE Transactions on Automatic Control.

[13]  M. Moallem,et al.  Attitude estimation and stabilization of a rigid body using low-cost sensors , 2007, 2007 46th IEEE Conference on Decision and Control.

[14]  J. Slotine,et al.  On Sliding Observers for Nonlinear Systems , 1986, 1986 American Control Conference.

[15]  Leonid Fridman,et al.  High‐order sliding‐mode observer for a quadrotor UAV , 2008 .

[16]  A.-J. Baerveldt,et al.  A low-cost and low-weight attitude estimation system for an autonomous helicopter , 1997, Proceedings of IEEE International Conference on Intelligent Engineering Systems.

[17]  John L. Crassidis,et al.  Survey of nonlinear attitude estimation methods , 2007 .

[18]  V. Utkin,et al.  Sliding mode observers. Tutorial , 1995, Proceedings of 1995 34th IEEE Conference on Decision and Control.

[19]  J. Wen,et al.  Robust attitude stabilization of spacecraft using nonlinear quaternion feedback , 1995, IEEE Trans. Autom. Control..

[20]  Maruthi R. Akella,et al.  Rigid body attitude control with inclinometer and low-cost gyro measurements , 2003, Syst. Control. Lett..