Guaranteed Performance of Nonlinear Attitude Filters on the Special Orthogonal Group SO(3)
This paper proposes two novel nonlinear attitude filters evolved directly on the special orthogonal group \mathbb {SO}\left ({3}\right) , able to ensure prescribed measures of transient and steady-state performance. The tracking performance of the normalized Euclidean distance of attitude error is...
Gespeichert in:
| Veröffentlicht in: | IEEE access 2019, Vol.7, p.3731-3745 |
|---|---|
| Hauptverfasser: | , , |
| Format: | Artikel |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | 3745 |
|---|---|
| container_issue | |
| container_start_page | 3731 |
| container_title | IEEE access |
| container_volume | 7 |
| creator | Hashim, Hashim A. Brown, Lyndon J. Mcisaac, Kenneth |
| description | This paper proposes two novel nonlinear attitude filters evolved directly on the special orthogonal group \mathbb {SO}\left ({3}\right) , able to ensure prescribed measures of transient and steady-state performance. The tracking performance of the normalized Euclidean distance of attitude error is trapped to initially start within a large set and converge systematically and asymptotically to the origin from almost any initial condition. The convergence rate is guaranteed to be less than the prescribed value, and the steady-state error does not exceed a predefined small value. The first filter uses a set of vectorial measurements with the need for attitude reconstruction. The second filter does not require attitude reconstruction and instead uses only a rate gyroscope measurement and two or more vectorial measurements. These filters provide good attitude estimates with superior convergence properties and can be applied to measurements obtained from low-cost inertial measurement units. The simulation results illustrate the robustness and effectiveness of the proposed attitude filters with guaranteed performance considering high level of uncertainty in angular velocity along with body-frame vector measurements. |
| doi_str_mv | 10.1109/ACCESS.2018.2889612 |
| format | Article |
| fullrecord | <record><control><sourceid>proquest_ieee_</sourceid><recordid>TN_cdi_ieee_primary_8587157</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>8587157</ieee_id><doaj_id>oai_doaj_org_article_6d6f008d0f364bc88ebf2734cdf47f49</doaj_id><sourcerecordid>2455626925</sourcerecordid><originalsourceid>FETCH-LOGICAL-c408t-19f5cb8bbe66d03b28f313c10d576685fd9d2abc10cfd613440a964421723a623</originalsourceid><addsrcrecordid>eNpNUU1LAzEUXERBqf4CLwEvemjN92aPpWgVxArVi5eQTV7aLeumZrMH_73RleK7vMcwM49hiuKS4BkhuLqdLxZ36_WMYqJmVKlKEnpUnFEiqykTTB7_u0-Li77f4TwqQ6I8K96Xg4mmSwAOvUD0IX6YzgIKHj2Hrm06MBHNU2rS4ADdN22C2KPQobQFtN6DbUyLVjFtwyZ0-VzGMOzRenXNbs6LE2_aHi7-9qR4u797XTxMn1bLx8X8aWo5VmlKKi9sreoapHSY1VR5Rpgl2IlSSiW8qxw1dQasd5IwzrGpJOeUlJQZSdmkeBx9XTA7vY_Nh4lfOphG_wIhbrSJqbEtaOmkz9kd9kzy2ioFtacl49Z5XnpeZa-r0Wsfw-cAfdK7MMQcrNeUCyGprKjILDaybAx9H8EfvhKsfzrRYyf6pxP910lWXY6qBgAOCiVUSUTJvgFUE4aO</addsrcrecordid><sourcetype>Open Website</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>2455626925</pqid></control><display><type>article</type><title>Guaranteed Performance of Nonlinear Attitude Filters on the Special Orthogonal Group SO(3)</title><source>IEEE Open Access Journals</source><source>DOAJ Directory of Open Access Journals</source><source>EZB-FREE-00999 freely available EZB journals</source><creator>Hashim, Hashim A. ; Brown, Lyndon J. ; Mcisaac, Kenneth</creator><creatorcontrib>Hashim, Hashim A. ; Brown, Lyndon J. ; Mcisaac, Kenneth</creatorcontrib><description>This paper proposes two novel nonlinear attitude filters evolved directly on the special orthogonal group <inline-formula> <tex-math notation="LaTeX">\mathbb {SO}\left ({3}\right) </tex-math></inline-formula>, able to ensure prescribed measures of transient and steady-state performance. The tracking performance of the normalized Euclidean distance of attitude error is trapped to initially start within a large set and converge systematically and asymptotically to the origin from almost any initial condition. The convergence rate is guaranteed to be less than the prescribed value, and the steady-state error does not exceed a predefined small value. The first filter uses a set of vectorial measurements with the need for attitude reconstruction. The second filter does not require attitude reconstruction and instead uses only a rate gyroscope measurement and two or more vectorial measurements. These filters provide good attitude estimates with superior convergence properties and can be applied to measurements obtained from low-cost inertial measurement units. The simulation results illustrate the robustness and effectiveness of the proposed attitude filters with guaranteed performance considering high level of uncertainty in angular velocity along with body-frame vector measurements.</description><identifier>ISSN: 2169-3536</identifier><identifier>EISSN: 2169-3536</identifier><identifier>DOI: 10.1109/ACCESS.2018.2889612</identifier><identifier>CODEN: IAECCG</identifier><language>eng</language><publisher>Piscataway: IEEE</publisher><subject>Angular velocity ; attitude estimator ; Attitudes ; Convergence ; error function ; estimates ; Estimation ; Euclidean distance ; Euclidean geometry ; Gyroscopes ; IMUs ; Inertial platforms ; Nonlinear complementary filter ; observer ; PPF ; prescribed performance function ; Reconstruction ; special orthogonal group ; Steady state ; steady-state error ; systematic convergence ; transformed error ; Transient analysis ; transient error</subject><ispartof>IEEE access, 2019, Vol.7, p.3731-3745</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2019</rights><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c408t-19f5cb8bbe66d03b28f313c10d576685fd9d2abc10cfd613440a964421723a623</citedby><cites>FETCH-LOGICAL-c408t-19f5cb8bbe66d03b28f313c10d576685fd9d2abc10cfd613440a964421723a623</cites><orcidid>0000-0003-2376-0603</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/8587157$$EHTML$$P50$$Gieee$$Hfree_for_read</linktohtml><link.rule.ids>314,776,780,860,2096,4010,27610,27900,27901,27902,54908</link.rule.ids></links><search><creatorcontrib>Hashim, Hashim A.</creatorcontrib><creatorcontrib>Brown, Lyndon J.</creatorcontrib><creatorcontrib>Mcisaac, Kenneth</creatorcontrib><title>Guaranteed Performance of Nonlinear Attitude Filters on the Special Orthogonal Group SO(3)</title><title>IEEE access</title><addtitle>Access</addtitle><description>This paper proposes two novel nonlinear attitude filters evolved directly on the special orthogonal group <inline-formula> <tex-math notation="LaTeX">\mathbb {SO}\left ({3}\right) </tex-math></inline-formula>, able to ensure prescribed measures of transient and steady-state performance. The tracking performance of the normalized Euclidean distance of attitude error is trapped to initially start within a large set and converge systematically and asymptotically to the origin from almost any initial condition. The convergence rate is guaranteed to be less than the prescribed value, and the steady-state error does not exceed a predefined small value. The first filter uses a set of vectorial measurements with the need for attitude reconstruction. The second filter does not require attitude reconstruction and instead uses only a rate gyroscope measurement and two or more vectorial measurements. These filters provide good attitude estimates with superior convergence properties and can be applied to measurements obtained from low-cost inertial measurement units. The simulation results illustrate the robustness and effectiveness of the proposed attitude filters with guaranteed performance considering high level of uncertainty in angular velocity along with body-frame vector measurements.</description><subject>Angular velocity</subject><subject>attitude estimator</subject><subject>Attitudes</subject><subject>Convergence</subject><subject>error function</subject><subject>estimates</subject><subject>Estimation</subject><subject>Euclidean distance</subject><subject>Euclidean geometry</subject><subject>Gyroscopes</subject><subject>IMUs</subject><subject>Inertial platforms</subject><subject>Nonlinear complementary filter</subject><subject>observer</subject><subject>PPF</subject><subject>prescribed performance function</subject><subject>Reconstruction</subject><subject>special orthogonal group</subject><subject>Steady state</subject><subject>steady-state error</subject><subject>systematic convergence</subject><subject>transformed error</subject><subject>Transient analysis</subject><subject>transient error</subject><issn>2169-3536</issn><issn>2169-3536</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2019</creationdate><recordtype>article</recordtype><sourceid>ESBDL</sourceid><sourceid>RIE</sourceid><sourceid>DOA</sourceid><recordid>eNpNUU1LAzEUXERBqf4CLwEvemjN92aPpWgVxArVi5eQTV7aLeumZrMH_73RleK7vMcwM49hiuKS4BkhuLqdLxZ36_WMYqJmVKlKEnpUnFEiqykTTB7_u0-Li77f4TwqQ6I8K96Xg4mmSwAOvUD0IX6YzgIKHj2Hrm06MBHNU2rS4ADdN22C2KPQobQFtN6DbUyLVjFtwyZ0-VzGMOzRenXNbs6LE2_aHi7-9qR4u797XTxMn1bLx8X8aWo5VmlKKi9sreoapHSY1VR5Rpgl2IlSSiW8qxw1dQasd5IwzrGpJOeUlJQZSdmkeBx9XTA7vY_Nh4lfOphG_wIhbrSJqbEtaOmkz9kd9kzy2ioFtacl49Z5XnpeZa-r0Wsfw-cAfdK7MMQcrNeUCyGprKjILDaybAx9H8EfvhKsfzrRYyf6pxP910lWXY6qBgAOCiVUSUTJvgFUE4aO</recordid><startdate>2019</startdate><enddate>2019</enddate><creator>Hashim, Hashim A.</creator><creator>Brown, Lyndon J.</creator><creator>Mcisaac, Kenneth</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>ESBDL</scope><scope>RIA</scope><scope>RIE</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7SR</scope><scope>8BQ</scope><scope>8FD</scope><scope>JG9</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>DOA</scope><orcidid>https://orcid.org/0000-0003-2376-0603</orcidid></search><sort><creationdate>2019</creationdate><title>Guaranteed Performance of Nonlinear Attitude Filters on the Special Orthogonal Group SO(3)</title><author>Hashim, Hashim A. ; Brown, Lyndon J. ; Mcisaac, Kenneth</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c408t-19f5cb8bbe66d03b28f313c10d576685fd9d2abc10cfd613440a964421723a623</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2019</creationdate><topic>Angular velocity</topic><topic>attitude estimator</topic><topic>Attitudes</topic><topic>Convergence</topic><topic>error function</topic><topic>estimates</topic><topic>Estimation</topic><topic>Euclidean distance</topic><topic>Euclidean geometry</topic><topic>Gyroscopes</topic><topic>IMUs</topic><topic>Inertial platforms</topic><topic>Nonlinear complementary filter</topic><topic>observer</topic><topic>PPF</topic><topic>prescribed performance function</topic><topic>Reconstruction</topic><topic>special orthogonal group</topic><topic>Steady state</topic><topic>steady-state error</topic><topic>systematic convergence</topic><topic>transformed error</topic><topic>Transient analysis</topic><topic>transient error</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Hashim, Hashim A.</creatorcontrib><creatorcontrib>Brown, Lyndon J.</creatorcontrib><creatorcontrib>Mcisaac, Kenneth</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE Open Access Journals</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Engineered Materials Abstracts</collection><collection>METADEX</collection><collection>Technology Research Database</collection><collection>Materials Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>DOAJ Directory of Open Access Journals</collection><jtitle>IEEE access</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Hashim, Hashim A.</au><au>Brown, Lyndon J.</au><au>Mcisaac, Kenneth</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Guaranteed Performance of Nonlinear Attitude Filters on the Special Orthogonal Group SO(3)</atitle><jtitle>IEEE access</jtitle><stitle>Access</stitle><date>2019</date><risdate>2019</risdate><volume>7</volume><spage>3731</spage><epage>3745</epage><pages>3731-3745</pages><issn>2169-3536</issn><eissn>2169-3536</eissn><coden>IAECCG</coden><abstract>This paper proposes two novel nonlinear attitude filters evolved directly on the special orthogonal group <inline-formula> <tex-math notation="LaTeX">\mathbb {SO}\left ({3}\right) </tex-math></inline-formula>, able to ensure prescribed measures of transient and steady-state performance. The tracking performance of the normalized Euclidean distance of attitude error is trapped to initially start within a large set and converge systematically and asymptotically to the origin from almost any initial condition. The convergence rate is guaranteed to be less than the prescribed value, and the steady-state error does not exceed a predefined small value. The first filter uses a set of vectorial measurements with the need for attitude reconstruction. The second filter does not require attitude reconstruction and instead uses only a rate gyroscope measurement and two or more vectorial measurements. These filters provide good attitude estimates with superior convergence properties and can be applied to measurements obtained from low-cost inertial measurement units. The simulation results illustrate the robustness and effectiveness of the proposed attitude filters with guaranteed performance considering high level of uncertainty in angular velocity along with body-frame vector measurements.</abstract><cop>Piscataway</cop><pub>IEEE</pub><doi>10.1109/ACCESS.2018.2889612</doi><tpages>15</tpages><orcidid>https://orcid.org/0000-0003-2376-0603</orcidid><oa>free_for_read</oa></addata></record> |
| fulltext | fulltext |
| identifier | ISSN: 2169-3536 |
| ispartof | IEEE access, 2019, Vol.7, p.3731-3745 |
| issn | 2169-3536 2169-3536 |
| language | eng |
| recordid | cdi_ieee_primary_8587157 |
| source | IEEE Open Access Journals; DOAJ Directory of Open Access Journals; EZB-FREE-00999 freely available EZB journals |
| subjects | Angular velocity attitude estimator Attitudes Convergence error function estimates Estimation Euclidean distance Euclidean geometry Gyroscopes IMUs Inertial platforms Nonlinear complementary filter observer PPF prescribed performance function Reconstruction special orthogonal group Steady state steady-state error systematic convergence transformed error Transient analysis transient error |
| title | Guaranteed Performance of Nonlinear Attitude Filters on the Special Orthogonal Group SO(3) |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-30T12%3A37%3A17IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-proquest_ieee_&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=Guaranteed%20Performance%20of%20Nonlinear%20Attitude%20Filters%20on%20the%20Special%20Orthogonal%20Group%20SO(3)&rft.jtitle=IEEE%20access&rft.au=Hashim,%20Hashim%20A.&rft.date=2019&rft.volume=7&rft.spage=3731&rft.epage=3745&rft.pages=3731-3745&rft.issn=2169-3536&rft.eissn=2169-3536&rft.coden=IAECCG&rft_id=info:doi/10.1109/ACCESS.2018.2889612&rft_dat=%3Cproquest_ieee_%3E2455626925%3C/proquest_ieee_%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_pqid=2455626925&rft_id=info:pmid/&rft_ieee_id=8587157&rft_doaj_id=oai_doaj_org_article_6d6f008d0f364bc88ebf2734cdf47f49&rfr_iscdi=true |