@Article{SilvaMenVieKugBar:2020:ThAtDe,
               author = "Silva, Felipe O. and Menezes Filho, Rog{\'e}rio P. and Vieira, 
                         Leonardo A. and Kuga, Helio Koiti and Barros, Ettore A. de",
          affiliation = "{Universidade Federal de Lavras (UFLA)} and {Universidade Federal 
                         de Lavras (UFLA)} and {Universidade Federal de Lavras (UFLA)} and 
                         {Instituto Nacional de Pesquisas Espaciais (INPE)} and 
                         {Universidade de S{\~a}o Paulo (USP)}",
                title = "Three-axis attitude determination with pseudo-bias estimation from 
                         gravity/magnetic vector observations",
              journal = "Journal of Guidance, Control, and Dynamics",
                 year = "2020",
               volume = "43",
               number = "12",
                pages = "2237--2257",
                month = "10.2514/1.G005253",
             abstract = "This paper revisits the stationary alignment problem of attitude 
                         and heading reference systems (AHRSs). The investigation is 
                         initiated from the three-axis attitude determination (TRIAD)based 
                         method, purposely chosen to use nonunitary/nonorthogonal 
                         observations of the local gravity and Earths magnetic flux density 
                         vectors. For the simplifying assumption of body and navigation 
                         frames aligned, a comprehensive error analysis is developed, 
                         providing additional insight into the problem. Closed-form 
                         formulas for the residual normality and orthogonality errors are 
                         used to devise innovative pseudo-bias estimation (PBE) algorithms 
                         for the x- and z-axis magnetometer biases, as well as for the 
                         z-axis accelerometer bias. As a direct consequence of applying the 
                         latter, and also figuring as the main contribution of this paper, 
                         an improved (more accurate) AHRS stationary alignment approach is 
                         obtained, herein called TRIAD-PBE. The error analysis is extended 
                         to representative state-of-the-art attitude determination 
                         techniques, confirming the relevance of TRIAD-PBE, especially in 
                         the presence of hard-iron magnetism. Results from simulated and 
                         experimental tests confirm the adequacy of the outlined 
                         verifications.",
                 issn = "0731-5090",
             language = "en",
           targetfile = "silva_three.pdf",
        urlaccessdate = "19 abr. 2024"
}