Experimental evaluation of a nonlinear attitude observer based on image and inertial measurements
This paper presents an experimentally tested solution to the problem of estimating the attitude of a rigid body using rate gyros and a pan and tilt camera. An exponential input-to-state stable pan and tilt control law is used to keep the visual features in the image plane. A multi-rate implementatio...
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| creator | Bras, S Cunha, R Vasconcelos, J F Silvestre, C Oliveira, P |
| description | This paper presents an experimentally tested solution to the problem of estimating the attitude of a rigid body using rate gyros and a pan and tilt camera. An exponential input-to-state stable pan and tilt control law is used to keep the visual features in the image plane. A multi-rate implementation of the nonlinear attitude observer that uses recent results in geometric numeric integration is proposed. Practical aspects, such as the computation of suitable observer feedback gains, are considered. Experimental results obtained with a high accuracy motion rate table demonstrate the high level of performance attained by the proposed solution. |
| doi_str_mv | 10.1109/ACC.2010.5530870 |
| format | Conference Proceeding |
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Experimental results obtained with a high accuracy motion rate table demonstrate the high level of performance attained by the proposed solution.</description><subject>Angular velocity</subject><subject>Attitude control</subject><subject>Cameras</subject><subject>Convergence</subject><subject>Feedback</subject><subject>Global Positioning System</subject><subject>Measurement uncertainty</subject><subject>Navigation</subject><subject>Testing</subject><subject>Unmanned aerial vehicles</subject><issn>0743-1619</issn><issn>2378-5861</issn><isbn>9781424474264</isbn><isbn>1424474264</isbn><isbn>1424474256</isbn><isbn>1424474272</isbn><isbn>9781424474271</isbn><isbn>9781424474257</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2010</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo1kE1LAzEQhuMX2NbeBS_5A1vznc2xLK0KBS96LpNmViLb3ZKkRf-9K1Z4YRjm4YF5CbnnbME5c4_LplkINm5aS1ZbdkGmXAmlrBLaXJKJkLaudG34FZk7W__fjLomE2aVrLjh7pZMc_5kjDtn2ITA6uuAKe6xL9BRPEF3hBKHng4tBdoPfRd7hEShlFiOAengM6YTJuohY6AjGffwgRT6QEc0lTh69gj5mPDXmu_ITQtdxvl5zsj7evXWPFeb16eXZrmpIre6VN5a5xUiQytk68xuJ3Y-8FoJLlAYZupaujYo5dG34IJypkUexmhmtWJyRh7-vBERt4fxJ0jf23NV8gf5cFpN</recordid><startdate>201006</startdate><enddate>201006</enddate><creator>Bras, S</creator><creator>Cunha, R</creator><creator>Vasconcelos, J F</creator><creator>Silvestre, C</creator><creator>Oliveira, P</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>201006</creationdate><title>Experimental evaluation of a nonlinear attitude observer based on image and inertial measurements</title><author>Bras, S ; Cunha, R ; Vasconcelos, J F ; Silvestre, C ; Oliveira, P</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i175t-b779b4ee0e723f96cc2cbd184212e26068839fd44bebfa9d496fe1de1d5075403</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2010</creationdate><topic>Angular velocity</topic><topic>Attitude control</topic><topic>Cameras</topic><topic>Convergence</topic><topic>Feedback</topic><topic>Global Positioning System</topic><topic>Measurement uncertainty</topic><topic>Navigation</topic><topic>Testing</topic><topic>Unmanned aerial vehicles</topic><toplevel>online_resources</toplevel><creatorcontrib>Bras, S</creatorcontrib><creatorcontrib>Cunha, R</creatorcontrib><creatorcontrib>Vasconcelos, J F</creatorcontrib><creatorcontrib>Silvestre, C</creatorcontrib><creatorcontrib>Oliveira, P</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Bras, S</au><au>Cunha, R</au><au>Vasconcelos, J F</au><au>Silvestre, C</au><au>Oliveira, P</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Experimental evaluation of a nonlinear attitude observer based on image and inertial measurements</atitle><btitle>Proceedings of the 2010 American Control Conference</btitle><stitle>ACC</stitle><date>2010-06</date><risdate>2010</risdate><spage>4552</spage><epage>4557</epage><pages>4552-4557</pages><issn>0743-1619</issn><eissn>2378-5861</eissn><isbn>9781424474264</isbn><isbn>1424474264</isbn><eisbn>1424474256</eisbn><eisbn>1424474272</eisbn><eisbn>9781424474271</eisbn><eisbn>9781424474257</eisbn><abstract>This paper presents an experimentally tested solution to the problem of estimating the attitude of a rigid body using rate gyros and a pan and tilt camera. An exponential input-to-state stable pan and tilt control law is used to keep the visual features in the image plane. A multi-rate implementation of the nonlinear attitude observer that uses recent results in geometric numeric integration is proposed. Practical aspects, such as the computation of suitable observer feedback gains, are considered. Experimental results obtained with a high accuracy motion rate table demonstrate the high level of performance attained by the proposed solution.</abstract><pub>IEEE</pub><doi>10.1109/ACC.2010.5530870</doi><tpages>6</tpages></addata></record> |
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| language | eng |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Angular velocity Attitude control Cameras Convergence Feedback Global Positioning System Measurement uncertainty Navigation Testing Unmanned aerial vehicles |
| title | Experimental evaluation of a nonlinear attitude observer based on image and inertial measurements |
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