@inproceedings{24cb405e30c44d27a98c2de01729ba57,
title = "Nonlinear observer for real-time attitude estimation",
abstract = "This paper deals with the attitude estimation of a rigid body equipped with a module of GAM sensors (rate gyros, accelerometers and magnetometers). 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 error dynamics can break up into two passive subsystems connected in {"}feedback{"}. This property is a first and crucial result that could be used to show that the error dynamics is input-to-state stable (ISS) when the measurement disturbance is seen as an input and the error state as the state. The effectiveness of the observer is confirmed in a real-time application.",
keywords = "Aerial robotics, Attitude, MEMS sensors, Nonlinear observer, SVD",
author = "Guerrero-S{\'a}nchez, {W. F.} and Guerrero-Castellanos, {J. F.} and R. Ju{\'a}rez-Salazar and Salmer{\'o}n-Quiroz, {B. B.}",
year = "2009",
doi = "10.1109/ICEEE.2009.5393399",
language = "Ingl{\'e}s",
isbn = "9781424446896",
series = "2009 6th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2009",
publisher = "IEEE Computer Society",
booktitle = "2009 6th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2009",
address = "Estados Unidos",
note = "2009 6th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2009 ; Conference date: 10-11-2009 Through 13-11-2009",
}