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Conference Papers Year : 2015

Descriptor Approach for Attitude Estimation

Alain Kibangou
Hassen Fourati


In this paper, a new modeling and filtering approachfor rigid body attitude estimation is investigated. Incontrast to the current state-of-the art where the process modelisdrivenbygyroscope measurements, weproposeanalternativemodeling formulation where the process model is fed by themagnetometer measurements. The resulting dynamic modeltakes the form of a descriptor system, also known as singularsystem.Basedonthismodelandusingthequaternionformalismwe derive a recursive filter whose performance is validatedthrough numerical and experimental tests.


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Dates and versions

hal-01188631 , version 1 (31-08-2015)


  • HAL Id : hal-01188631 , version 1


Aida Makni, Alain Kibangou, Hassen Fourati. Descriptor Approach for Attitude Estimation. MSC 2015 - IEEE Multi-Conference on Systems and Control, Sep 2015, Sydney, Australia. ⟨hal-01188631⟩
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