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Estimation of angular rate from direction sensors

Abstract : This thesis addresses the general question of estimating the angular rate of a rigid body from on-board direction sensors (e.g. magnetometers, Sun sensors). The objective is to replace rate gyros which are very expensive compared to direction sensors, prone to saturation during high rate rotations and subject to failure. In a first part of the thesis, we address the specific cases of single-axis and slightly perturbed axis rotations.In a second part, we address the general case by an asymptotic non-linear observer. We build the observer from two non-collinear vector measurements or from a single vector measurements. The knowledge of the inertial coordinates of the reference vectors is not necessary. We then extend the observer to further estimate unknown torques and inertia parameters. The Euler’s equations play a central role in all the works developed in this thesis. It appears that, at least for the illustrative cases considered, rate gyros could be replaced with an estimation algorithm employing direction sensors which are much cheaper,more rugged and more resilient sensors.
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  • HAL Id : tel-01298673, version 1


Lionel Magnis. Estimation of angular rate from direction sensors. Automatic Control Engineering. Ecole Nationale Supérieure des Mines de Paris, 2015. English. ⟨NNT : 2015ENMP0039⟩. ⟨tel-01298673⟩



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