Attitude Determination by Globally and Asymptotically Stable Estimation of Gyroscope Bias Error with Disturbance Attenuation and Rejection
Hideaki Yamato, Takayuki Furuta, and Ken Tomiyama
Future Robotics Technology Center, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba 275-0016, Japan
This paper presents a new methodology of attitude determination for cost-effective and small inertial measurement units, consisting of tri-axial gyroscope sensors, accelerometers, and geo-magnetometers. Introduced for algorithm development is a quaternion feedback structure, where bias terms in the gyroscope rate information, appearing in the feedback loop, are identified with the theoretical guarantee of global and asymptotical stability. The bias-term identification and modification process is performed continuously without the influence of disturbance by combining the proposed disturbance evaluation scheme and conventional vector matching method with an adaptive parameter configuration. Practical validity of the presented framework is fully evaluated by experiments. It is shown that the approach in this paper can offer drift-free performance with disturbance attenuation and rejection under arbitrary attitude test motion of spatial rotation and translation.
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