A Nonlinear Attitude Estimator for Attitude and Heading Reference Systems Based on MEMS Sensors

Yunlong Wang; Mohsen Soltani; Dil muhammed Akbar Hussain

doi:10.1109/SICEISCS.2016.7470176

A Nonlinear Attitude Estimator for Attitude and Heading Reference Systems Based on MEMS Sensors

Yunlong Wang, Mohsen Soltani, Dil muhammed Akbar Hussain

AAU Energy

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

4 Citations (Scopus)

1241 Downloads (Pure)

Abstract

In this paper, a nonlinear attitude estimator is designed for an Attitude Heading and Reference System (AHRS) based on Micro Electro-Mechanical Systems (MEMS) sensors. The design process of the attitude estimator is stated with detail, and the equilibrium point of the estimator error model is proved to be asymptotically stable using LaSalle's invariance set theorem through limitation of the range of scalar element of quaternion without affecting practical use. Also, a new Lyapunov candidate function, satisfying continuously differentiable positive definite requirement, is presented to avoid the problems in previous research works. Moreover, the estimation of MEMS gyroscope bias is also inclueded in this estimator. The designed nonlinear attitude estimator is firstly tested in simulation environment and then implemented in an AHRS hardware for further experiments. Finally, the attitude estimation results from the designed AHRS are compared with a high-precision commercial AHRS to validate its estimation performance.

Original language	English
Title of host publication	Proceedings of SICE International Symposium on Control Systems (ISCS) 2016
Number of pages	8
Publisher	IEEE Press
Publication date	Mar 2016
Pages	23 - 30
Article number	7470176
ISBN (Print)	978-4-907764-53-1
DOIs	https://doi.org/10.1109/SICEISCS.2016.7470176
Publication status	Published - Mar 2016
Event	SICE International Symposium on Control Systems 2016 - Nanzan University, Nagoya, Japan Duration: 7 Mar 2016 → 10 Mar 2016

Conference

Conference	SICE International Symposium on Control Systems 2016
Location	Nanzan University
Country/Territory	Japan
City	Nagoya
Period	07/03/2016 → 10/03/2016

Keywords

Nonlinear estimator
Attitude estimation
MEMS sensor

Access to Document

10.1109/SICEISCS.2016.7470176

SICE_A Nonlinear Attitude Estimator for Attitude and Heading Reference Systems Based on MEMS SensorsSubmitted manuscript, 1.9 MB

Star2Com: Stabilization and control of Satellite-tracking antennas for marine Communication (Star2 Com)
N. Soltani, M., Pedersen, J. K., Yang, Z., Nielsen, P. & Christensen, J.
HTF
01/04/2014 → 31/10/2017
Project: Research

Cite this

@inproceedings{16cee3bdf83a4dd09355e1f40f4bbce5,

title = "A Nonlinear Attitude Estimator for Attitude and Heading Reference Systems Based on MEMS Sensors",

abstract = "In this paper, a nonlinear attitude estimator is designed for an Attitude Heading and Reference System (AHRS) based on Micro Electro-Mechanical Systems (MEMS) sensors. The design process of the attitude estimator is stated with detail, and the equilibrium point of the estimator error model is proved to be asymptotically stable using LaSalle's invariance set theorem through limitation of the range of scalar element of quaternion without affecting practical use. Also, a new Lyapunov candidate function, satisfying continuously differentiable positive definite requirement, is presented to avoid the problems in previous research works. Moreover, the estimation of MEMS gyroscope bias is also inclueded in this estimator. The designed nonlinear attitude estimator is firstly tested in simulation environment and then implemented in an AHRS hardware for further experiments. Finally, the attitude estimation results from the designed AHRS are compared with a high-precision commercial AHRS to validate its estimation performance.",

keywords = "Nonlinear estimator, Attitude estimation, MEMS sensor",

author = "Yunlong Wang and Mohsen Soltani and Hussain, {Dil muhammed Akbar}",

year = "2016",

month = mar,

doi = "10.1109/SICEISCS.2016.7470176",

language = "English",

isbn = "978-4-907764-53-1",

pages = "23 -- 30 ",

booktitle = "Proceedings of SICE International Symposium on Control Systems (ISCS) 2016",

publisher = "IEEE Press",

note = "SICE International Symposium on Control Systems 2016, SICE ISCS 2016 ; Conference date: 07-03-2016 Through 10-03-2016",

}

Wang, Y, Soltani, M & Hussain, DMA 2016, A Nonlinear Attitude Estimator for Attitude and Heading Reference Systems Based on MEMS Sensors. in Proceedings of SICE International Symposium on Control Systems (ISCS) 2016 ., 7470176, IEEE Press, pp. 23 - 30 , SICE International Symposium on Control Systems 2016, Nagoya, Japan, 07/03/2016. https://doi.org/10.1109/SICEISCS.2016.7470176

A Nonlinear Attitude Estimator for Attitude and Heading Reference Systems Based on MEMS Sensors. / Wang, Yunlong; Soltani, Mohsen ; Hussain, Dil muhammed Akbar.

Proceedings of SICE International Symposium on Control Systems (ISCS) 2016 . IEEE Press, 2016. p. 23 - 30 7470176.

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

TY - GEN

T1 - A Nonlinear Attitude Estimator for Attitude and Heading Reference Systems Based on MEMS Sensors

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AU - Hussain, Dil muhammed Akbar

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N2 - In this paper, a nonlinear attitude estimator is designed for an Attitude Heading and Reference System (AHRS) based on Micro Electro-Mechanical Systems (MEMS) sensors. The design process of the attitude estimator is stated with detail, and the equilibrium point of the estimator error model is proved to be asymptotically stable using LaSalle's invariance set theorem through limitation of the range of scalar element of quaternion without affecting practical use. Also, a new Lyapunov candidate function, satisfying continuously differentiable positive definite requirement, is presented to avoid the problems in previous research works. Moreover, the estimation of MEMS gyroscope bias is also inclueded in this estimator. The designed nonlinear attitude estimator is firstly tested in simulation environment and then implemented in an AHRS hardware for further experiments. Finally, the attitude estimation results from the designed AHRS are compared with a high-precision commercial AHRS to validate its estimation performance.

AB - In this paper, a nonlinear attitude estimator is designed for an Attitude Heading and Reference System (AHRS) based on Micro Electro-Mechanical Systems (MEMS) sensors. The design process of the attitude estimator is stated with detail, and the equilibrium point of the estimator error model is proved to be asymptotically stable using LaSalle's invariance set theorem through limitation of the range of scalar element of quaternion without affecting practical use. Also, a new Lyapunov candidate function, satisfying continuously differentiable positive definite requirement, is presented to avoid the problems in previous research works. Moreover, the estimation of MEMS gyroscope bias is also inclueded in this estimator. The designed nonlinear attitude estimator is firstly tested in simulation environment and then implemented in an AHRS hardware for further experiments. Finally, the attitude estimation results from the designed AHRS are compared with a high-precision commercial AHRS to validate its estimation performance.

KW - Nonlinear estimator

KW - Attitude estimation

KW - MEMS sensor

U2 - 10.1109/SICEISCS.2016.7470176

DO - 10.1109/SICEISCS.2016.7470176

M3 - Article in proceeding

SN - 978-4-907764-53-1

SP - 23

EP - 30

BT - Proceedings of SICE International Symposium on Control Systems (ISCS) 2016

PB - IEEE Press

T2 - SICE International Symposium on Control Systems 2016

Y2 - 7 March 2016 through 10 March 2016

ER -

A Nonlinear Attitude Estimator for Attitude and Heading Reference Systems Based on MEMS Sensors

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Star2Com: Stabilization and control of Satellite-tracking antennas for marine Communication (Star2 Com)

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