Instituto Nacional De Tecnica Aeroespacial “Esteban Terradas”

Sergio De La Parra Carqué

This invention relates to a system for estimating the position, velocity and orientation of a vehicle, by determining the components of two noncollinear constant unit vectors,according to vehicle body axes; and determining the components of the noncollinear constant unit vectors {right arrow over (g)},{right arrow over (e)}according to Earth's axes. The system further determines the three components of angular velocityof the vehicle in body axes; corrects the angular velocitywith a correction uand obtains a corrected angular velocity {circumflex over (&#x3c9;)}=+u; a control module implementing a control law to calculate the correction u, where the control law is:=&#x3c3;(+)&#x2003;&#x2003;[1]where &#x3c3; is a positive scalar, such that upon using the corrected angular velocity {circumflex over (&#x3c9;)}=+uas input to a module for integrating the kinematic equations, the latter are stable in the ISS sense and the error in the estimation of the direction cosine matrix {circumflex over (B)} and of the Euler angles {circumflex over (&#x3c6;)} is bounded.

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Torrejón de Ardoz, Spain

Sergio De La Parra Carqué