Next Article in Journal
Theoretical Calculation of the Gas-Sensing Properties of Pt-Decorated Carbon Nanotubes
Next Article in Special Issue
Design and Implementation of a Micromechanical Silicon Resonant Accelerometer
Previous Article in Journal
Towards Memory-Aware Services and Browsing through Lifelogging Sensing
Previous Article in Special Issue
Fabrication and Characterization of CMOS-MEMS Magnetic Microsensors
Article Menu

Export Article

Open AccessArticle
Sensors 2013, 13(11), 15138-15158; doi:10.3390/s131115138

A Robust Nonlinear Observer for Real-Time Attitude Estimation Using Low-Cost MEMS Inertial Sensors

1
Faculty of Electronic, Autonomous University of Puebla (BUAP), Ciudad universitaria, Puebla 72570, Mexico
2
Control Systems Department, GIPSA-lab laboratory, CNRS-University of Grenoble, ENSE3 BP 46, St Martin d'Hères Cedex 38402, France
3
Engineering Institute, Autonomous University of Mexico (UNAM), Circuito Escolar, Ciudad Universitaria, Mexico D.F. 04510, Mexico
*
Author to whom correspondence should be addressed.
Received: 7 September 2013 / Revised: 22 October 2013 / Accepted: 22 October 2013 / Published: 6 November 2013
(This article belongs to the Special Issue Modeling, Testing and Reliability Issues in MEMS Engineering 2013)
View Full-Text   |   Download PDF [2557 KB, uploaded 21 June 2014]   |  

Abstract

This paper deals with the attitude estimation of a rigid body equipped with angular velocity sensors and reference vector sensors. 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 observer error dynamics can be separated into two passive subsystems connected in “feedback”. Then, this property is used to show that the error dynamics is input-to-state stable when the measurement disturbance is seen as an input and the error as the state. These results allow one to affirm that the observer is “robustly stable”. The proposed observer is evaluated in real-time with the design and implementation of an Attitude and Heading Reference System (AHRS) based on low-cost MEMS (Micro-Electro-Mechanical Systems) Inertial Measure Unit (IMU) and magnetic sensors and a 16-bit microcontroller. The resulting estimates are compared with a high precision motion system to demonstrate its performance.
Keywords: nonlinear attitude observer; quaternion; MEMS IMU; Attitude and Heading Reference System (AHRS); real-time implementation nonlinear attitude observer; quaternion; MEMS IMU; Attitude and Heading Reference System (AHRS); real-time implementation
This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Guerrero-Castellanos, J.F.; Madrigal-Sastre, H.; Durand, S.; Torres, L.; Muñoz-Hernández, G.A. A Robust Nonlinear Observer for Real-Time Attitude Estimation Using Low-Cost MEMS Inertial Sensors. Sensors 2013, 13, 15138-15158.

Show more citation formats Show less citations formats

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top