基于矢量测量的角速度非线性观测器
Angular velocity nonlinear observer from vector measurements
摘要：
本文提出了一种从矢量测量中估计刚体角速度的方法。与文献中提出的方法相比，它不使用姿态信息，也不使用速率陀螺作为输入。相反，矢量测量直接通过估计角速度的非线性观测器进行滤波。收敛性建立使用的线性时变动态估计差错方程中出现的详细分析。该方程源于经典的欧拉方程和测量方程。高增益设计允许建立局部一致指数收敛。仿真结果表明了该方法的有效性。
英文摘要：
The paper proposes a technique to estimate the angular velocity of a rigid body from vector measurements. Compared to the approaches presented in the literature, it does not use attitude information nor rate gyros as inputs. Instead, vector measurements are directly filtered through a nonlinear observer estimating the angular velocity. Convergence is established using a detailed analysis of the linear-time varying dynamics appearing in the estimation error equation. This equation stems from the classic Euler equations and measurement equations. A high gain design allows to establish local uniform exponential convergence. Simulation results are provided to illustrate the method.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
