Sliding mode observer to estimate both the attitude and the gyro-bias by using low-cost sensors

摘要

This paper presents a nonlinear observer algorithm for attitude estimation that improves the quality of measures obtained by using low-cost inertial measurements (IMU). It is based on sliding mode observer that provides both the estimates of the gyro-bias and the actual attitude of the rigid body. The algorithm was developed in order to address the well-known problem of the weak dynamics of the tilt sensors and magnetometers, which can be modeled by low pass filters, and of the measurement bias of the gyros. In its design the observer uses the real measurements given by the low-cost attitude sensors (inclinometers and magnetometers) and the gyros, the filters modeling the sensors and the kinematics equation of the rigid body. The asymptotic convergence of the estimation of the attitude and bias-gyros was proven using Lyapunov stability method. The effectiveness of the algorithm has been shown from experimental tests using a rotary platform equipped with several sensors with axes of rotation coincide with orientation of the rigid body. Also, tests for comparison with a linear complementary filter are given.