Cooperative Attitude Estimation Based on Remote-Access Observations

Authored by: Chao Gao , Guorong Zhao , Jianhua Lu

Multisensor Attitude Estimation

Print publication date:  August  2016
Online publication date:  November  2016

Print ISBN: 9781498745710
eBook ISBN: 9781315368795
Adobe ISBN:

10.1201/9781315368795-19

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Abstract

Cooperative attitude estimation (CAE), mainly the estimation procedure of navigational attitude based on remote-access observations (RAOs), is an important approach for navigation system to overcome the bottleneck between efficiency and investment, and thus is a promising direction for the continuation of navigation theory. The objective of this chapter is to introduce the essential conception, typical methodology, and unique problematic issues of CAE approach, and resort to solving the cooperative-packet-based attitude estimation (CPAE) problem for a group of rigid bodies in navigation carrier ad hoc networks (NC-NETs), in which the nodes are communicated through wireless packets. Decentralized attitude determination laws are proposed in the presence of ideal RAO and problematic RAO, respectively, such that all rigid bodies in NC-NET can estimate a precise 3D attitude without requiring local inertial navigation systems. The convergence properties of this estimator have also been investigated.

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