论文标题
建设性的模棱两可的观察者设计，用于惯性速度的态度
Constructive Equivariant Observer Design for Inertial Velocity-Aided Attitude
论文作者
论文摘要
惯性速度辅助态度（VAA）是控制遥控空中系统（RPA）的重要问题，涉及使用陀螺仪，加速度计和惯性型速度（例如，GPS速度）测量的使用陀螺仪，加速度计和惯性的速度估算车辆的速度和态度。现有的解决方案往往是复杂的，并依靠高增益设计或假设车辆的持续加速度提供有限的稳定性保证。本文提出了一个惯性VAA的新颖观察者，该观察者利用了系统动力学的谎言组对称性，并表明观察者与系统轨迹同步。与文献中通常使用的较大的虚拟状态相反，这是通过添加仅三个维度的虚拟状态来实现的。观察者的误差动力学几乎在全球渐近和局部指数稳定。最后，在模拟中验证了观察者，即使初始条件极差，估计误差也会收敛到零。
Inertial Velocity-Aided Attitude (VAA) is an important problem in the control of Remotely Piloted Aerial Systems (RPAS), and involves estimating the velocity and attitude of a vehicle using gyroscope, accelerometer, and inertial-frame velocity (e.g. GPS velocity) measurements. Existing solutions tend to be complex and provide limited stability guarantees, relying on either high gain designs or assuming constant acceleration of the vehicle. This paper proposes a novel observer for inertial VAA that exploits Lie group symmetries of the system dynamics, and shows that the observer is synchronous with the system trajectories. This is achieved by adding a virtual state of only three dimensions, in contrast to the larger virtual states typically used in the literature. The error dynamics of the observer are shown to be almost globally asymptotically and locally exponentially stable. Finally, the observer is verified in simulation, where it is shown that the estimation error converges to zero even with an extremely poor initial condition.
