基于单矢量测量的角速度非线性观测器
Angular velocity nonlinear observer from single vector measurements
摘要：
本文提出了一种从单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的详细分析中出现的估计差错方程。该方程源于经典的欧拉方程和测量方程。正如所证明的那样，自由旋转的情况下，允许放松激励假设的持久性。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 single 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 a linear-time varying dynamics appearing in the estimation error equation. This equation stems from the classic Euler equations and measurement equations. As is proven, the case of free-rotation allows one to relax the persistence of excitation assumption. 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。
