用气压计辅助估算姿态，提升无人车在无GPS环境下的稳定性。
Barometer-Aided Attitude Estimation
- 结合气压计数据与非线性观测器，解耦重力与加速度干扰
- 在无GPS条件下实现接近全局稳定的姿态估计
- 适合低成本、高动态的自动驾驶系统使用
在无卫星导航或高动态环境下，自主车辆的姿态估计面临严峻挑战。仅靠惯性测量单元（IMU）难以可靠判断倾斜角度，因重力与惯性加速度存在混淆。尽管可借助GNSS、皮托管、多普勒雷达或视觉里程计等辅助速度传感器，但这些设备可能失效、间歇性工作或成本高昂。本文提出一种基于气压计的姿态估计算法，利用气压高度测量推算垂直速度，并在SO(3)流形上构建非线性观测器。该设计融合确定性Riccati观测器与互补滤波器，在统一可观测性条件下保证几乎全局渐近稳定（AGAS），同时保持几何一致性。分析表明，气压计辅助是一种轻量且有效的补充手段。
原文摘要 · Abstract (English)
Accurate and robust attitude estimation is a central challenge for autonomous vehicles operating in GNSS-denied or highly dynamic environments. In such cases, Inertial Measurement Units (IMUs) alone are insufficient for reliable tilt estimation due to the ambiguity between gravitational and inertial accelerations. While auxiliary velocity sensors, such as GNSS, Pitot tubes, Doppler radar, or visual odometry, are often used, they can be unavailable, intermittent, or costly. This work introduces a barometer-aided attitude estimation architecture that leverages barometric altitude measurements to infer vertical velocity and attitude within a nonlinear observer on SO(3). The design cascades a deterministic Riccati observer with a complementary filter, ensuring Almost Global Asymptotic Stability (AGAS) under a uniform observability condition while maintaining geometric consistency. The analysis highlights barometer-aided estimation as a lightweight and effective complementary modality.
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