论文标题
矢量测量的态度估计：必要和充分的条件以及收敛的观察者设计
Attitude estimation from vector measurements: Necessary and sufficient conditions and convergent observer design
论文作者
论文摘要
本文使用（可能是时间变化的）矢量测量来解决刚体估计的态度估计问题，我们为此提供了必要且充分的区分条件。这种情况显示出比以前用于态度观察者设计的条件要弱。此后，我们表明，即使对于单个矢量案例，所产生的条件足以设计几乎全球收敛的态度观察者，并获得了两个明确的设计。为了克服弱激发问题，第一个设计采用了充分利用历史信息，而第二个方案则动态生成虚拟参考向量，该虚拟参考矢量对给定向量测量仍然非共线。仿真结果说明了尽管测量嘈杂，但进行了准确的估计。
The paper addresses the problem of attitude estimation for rigid bodies using (possibly time-varying) vector measurements, for which we provide a necessary and sufficient condition of distinguishability. Such a condition is shown to be strictly weaker than those previously used for attitude observer design. Thereafter, we show that even for the single vector case the resulting condition is sufficient to design almost globally convergent attitude observers, and two explicit designs are obtained. To overcome the weak excitation issue, the first design employs to make full use of historical information, whereas the second scheme dynamically generates a virtual reference vector, which remains non-collinear to the given vector measurement. Simulation results illustrate the accurate estimation despite noisy measurements.
