State Estimation for Systems on Lie Groups with Nonideal Measurements
This thesis considers the state estimation problem for invariant systems on Lie groups with inputs in its associated Lie algebra and outputs in homogeneous spaces of the Lie group. A particular focus of this thesis is the development of state estimation methodologies for systems with nonideal measurements, especially systems with additive input measurement bias, output measurement delay, and sampled outputs. The main contribution of the thesis is to...[Show more]
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