Attitude estimation in SO(3): A comparative case study

摘要

This paper introduces a novel algorithm to obtain attitude estimations from low cost 9 Degree of Freedom Inertial Measurement Units. This nonlinear attitude estimator is formulated in the Special Orthogonal Group SO(3) based on the Lyapunov theory. The performance of the proposed estimator is compared to current commonly used methods, namely the Extended Kalman Filter and two other nonlinear estimators in SO(3), in computer simulations for a quadrotor Unmanned Aerial Vehicle.