Attitude observers for accelerated vehicles using IMU and GPS measurements

Saliha Bencheikh; Salim Ibrir; Salah Boukraa

doi:10.1109/SSD.2015.7348192

Attitude observers for accelerated vehicles using IMU and GPS measurements

Saliha Bencheikh, Salim Ibrir, Salah Boukraa

King Fahd University of Petroleum & Minerals

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

In this paper, we present two new nonlinear attitude observers for accelerated vehicles moving in 3-D space using GPS velocity and IMU measures. These observers are developed based on the idea that for highly dynamic motions, the acceleration or the error affecting acceleration can be strongly related to dynamic changes of velocity errors. The two observers have ensured the convergence to zero of error in very short time and for any almost initial conditions. Conditions are given to guarantee the asymptotic stability of the system. Simulation results have proven the better performance of these observers compared to results obtained by other observers recently developed in the literature.

Original language	English
Title of host publication	12th International Multi-Conference on Systems, Signals and Devices, SSD 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781479917587
DOIs	https://doi.org/10.1109/SSD.2015.7348192
State	Published - 4 Dec 2015

Publication series

Name	12th International Multi-Conference on Systems, Signals and Devices, SSD 2015

Bibliographical note

Publisher Copyright:
© 2015 IEEE.

Keywords

Attitude estimation
Inertial navigation
Non-linear observers
Sensor fusion

ASJC Scopus subject areas

Signal Processing
Computer Networks and Communications
Control and Systems Engineering

Access to Document

10.1109/SSD.2015.7348192

Cite this

Bencheikh, S., Ibrir, S., & Boukraa, S. (2015). Attitude observers for accelerated vehicles using IMU and GPS measurements. In 12th International Multi-Conference on Systems, Signals and Devices, SSD 2015 Article 7348192 (12th International Multi-Conference on Systems, Signals and Devices, SSD 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSD.2015.7348192

@inproceedings{08df673e0eb9400d89297192db8bf470,

title = "Attitude observers for accelerated vehicles using IMU and GPS measurements",

abstract = "In this paper, we present two new nonlinear attitude observers for accelerated vehicles moving in 3-D space using GPS velocity and IMU measures. These observers are developed based on the idea that for highly dynamic motions, the acceleration or the error affecting acceleration can be strongly related to dynamic changes of velocity errors. The two observers have ensured the convergence to zero of error in very short time and for any almost initial conditions. Conditions are given to guarantee the asymptotic stability of the system. Simulation results have proven the better performance of these observers compared to results obtained by other observers recently developed in the literature.",

keywords = "Attitude estimation, Inertial navigation, Non-linear observers, Sensor fusion",

author = "Saliha Bencheikh and Salim Ibrir and Salah Boukraa",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.",

year = "2015",

month = dec,

day = "4",

doi = "10.1109/SSD.2015.7348192",

language = "English",

series = "12th International Multi-Conference on Systems, Signals and Devices, SSD 2015",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "12th International Multi-Conference on Systems, Signals and Devices, SSD 2015",

address = "United States",

}

Bencheikh, S, Ibrir, S & Boukraa, S 2015, Attitude observers for accelerated vehicles using IMU and GPS measurements. in 12th International Multi-Conference on Systems, Signals and Devices, SSD 2015., 7348192, 12th International Multi-Conference on Systems, Signals and Devices, SSD 2015, Institute of Electrical and Electronics Engineers Inc. https://doi.org/10.1109/SSD.2015.7348192

Attitude observers for accelerated vehicles using IMU and GPS measurements. / Bencheikh, Saliha; Ibrir, Salim; Boukraa, Salah.
12th International Multi-Conference on Systems, Signals and Devices, SSD 2015. Institute of Electrical and Electronics Engineers Inc., 2015. 7348192 (12th International Multi-Conference on Systems, Signals and Devices, SSD 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Attitude observers for accelerated vehicles using IMU and GPS measurements

AU - Bencheikh, Saliha

AU - Ibrir, Salim

AU - Boukraa, Salah

PY - 2015/12/4

Y1 - 2015/12/4

N2 - In this paper, we present two new nonlinear attitude observers for accelerated vehicles moving in 3-D space using GPS velocity and IMU measures. These observers are developed based on the idea that for highly dynamic motions, the acceleration or the error affecting acceleration can be strongly related to dynamic changes of velocity errors. The two observers have ensured the convergence to zero of error in very short time and for any almost initial conditions. Conditions are given to guarantee the asymptotic stability of the system. Simulation results have proven the better performance of these observers compared to results obtained by other observers recently developed in the literature.

AB - In this paper, we present two new nonlinear attitude observers for accelerated vehicles moving in 3-D space using GPS velocity and IMU measures. These observers are developed based on the idea that for highly dynamic motions, the acceleration or the error affecting acceleration can be strongly related to dynamic changes of velocity errors. The two observers have ensured the convergence to zero of error in very short time and for any almost initial conditions. Conditions are given to guarantee the asymptotic stability of the system. Simulation results have proven the better performance of these observers compared to results obtained by other observers recently developed in the literature.

KW - Attitude estimation

KW - Inertial navigation

KW - Non-linear observers

KW - Sensor fusion

UR - https://www.scopus.com/pages/publications/84962754563

U2 - 10.1109/SSD.2015.7348192

DO - 10.1109/SSD.2015.7348192

M3 - Conference contribution

AN - SCOPUS:84962754563

T3 - 12th International Multi-Conference on Systems, Signals and Devices, SSD 2015

BT - 12th International Multi-Conference on Systems, Signals and Devices, SSD 2015

PB - Institute of Electrical and Electronics Engineers Inc.

ER -

Bencheikh S, Ibrir S, Boukraa S. Attitude observers for accelerated vehicles using IMU and GPS measurements. In 12th International Multi-Conference on Systems, Signals and Devices, SSD 2015. Institute of Electrical and Electronics Engineers Inc. 2015. 7348192. (12th International Multi-Conference on Systems, Signals and Devices, SSD 2015). doi: 10.1109/SSD.2015.7348192

Attitude observers for accelerated vehicles using IMU and GPS measurements

Abstract

Publication series

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

Fingerprint

Cite this