Nonlinear Observers for Gyro Calibration Coupled with a Nonlinear Control Algorithm

Nonlinear observers for gyro calibration are presented. The first observer estimates a constant gyro bias. The second observer estimates scale factor errors. The third observer estimates the gyro alignment for three orthogonal gyros. The observers are then combined. The convergence properties of all three observers, and the combined observers, are discussed. Additionally, all three observers are coupled with a nonlinear control algorithm. The stability of each of the resulting closed loop systems is analyzed. Simulated test results are presented for each system.