On the Observability and Observer Design on the Special Orthogonal Group Based on Partial Inertial Sensing
IEEE Transactions on Automatic Control(2021)
摘要
The aim of this article is to discuss the observability properties and observer design for the attitude of a rigid body, under conditions of partial inertial sensing. In particular, we introduce an observability analysis tool for the attitude dynamics when only accelerometer and gyroscope measurements are available, as in several robotics applications. In various scenarios, in fact, the measuremen...
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关键词
Observability,Magnetometers,Observers,Accelerometers,Robot sensing systems,Magnetic levitation,Gyroscopes
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