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		Martin Barczyk.[en_title][J].Control Theory and Technology,2019,17(3):228~240.[Copy]

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Invariant Observer Design of Attitude and Heading Reference System
MartinBarczyk
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(University of Alberta, Canada)

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DOI：https://doi.org/10.1007/s11768-019-8028-6

基金项目:This work was partially supported by the National Science and Engineering Research Council of Canada (NSERC).

Invariant Observer Design of Attitude and Heading Reference System

Martin Barczyk

(University of Alberta, Canada)

Abstract:

An attitude and heading reference system (AHRS) is a nonlinear state estimator unit for computing orientation in 3D space. This paper designs an AHRS using three approaches: an invariant observer, an invariant extended Kalman filter (IEKF), and a conventional extended Kalman filter (EKF). The three designs are validated in experiment versus a ground truth, demonstrating the practical interest of the invariant observer methodology and the advantage of the IEKF over the EKF under model uncertainty.

Key words: Inertial navigation, state estimation, Kalman filters, nonlinear dynamical systems, covariance matrices