Generalized Nonlinear Complementary Attitude Filter

Details Generalized Nonlinear Complementary Attitude Filter Generalized Nonlinear Complementary Attitude Filter

2011-10-03

arxiv.org/abs/1110.0274v1

Journal of Guidance, Control, and Dynamics, Vol. 34, No. 5, 2011, pp. 1588-1592

Mathematics

Optimization and Control

Scientific paper

This work describes a family of attitude estimators that are based on a generalization of Mahony's nonlinear complementary filter. This generalization reveals the close mathematical relationship between the nonlinear complementary filter and the more traditional multiplicative extended Kalman filter. In fact, the bias-free and constant gain multiplicative continuous-time extended Kalman filters may be interpreted as special cases of the generalized attitude estimator. The correspondence provides a rational means of choosing the gains for the nonlinear complementary filter and a proof of the near global asymptotic stability of special cases of the multiplicative extended Kalman filter.

Affiliated with

Also associated with

No associations

Rating

Generalized Nonlinear Complementary Attitude Filter does not yet have a rating. At this time, there are no reviews or comments for this scientific paper.

If you have personal experience with Generalized Nonlinear Complementary Attitude Filter, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Generalized Nonlinear Complementary Attitude Filter will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFWR-SCP-O-270670