Nonlinear attitude estimation with measurement decoupling and anti-windup gyro-bias compensation

Abstract Any low-cost IMU is subject to biased measurement in its gyroscopes. This paper presents a nonlinear attitude observer which incorporates anti-windup gyro-bias compensation. It also provides an extension of the decoupling strategy of IMU measurement recently proposed in the literature by providing almost global stability proof along with a comprehensive study of the decoupling strategy. Simulation and experimental results are given to illustrate the concept.

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