Zamani, Mohammad; Trumpf, Jochen; Mahony, Robert
A deterministic attitude filter is derived based on the principles of minimum-energy filtering. The proposed filter is applied to the attitude kinematics of a rigid body in 3D space and is posed directly on the rotation group SO(3). The proposed filter generalizes recently published work by Coote et al. on deterministic filtering on the unit circle. The filter is nearoptimal in the sense that it achieves a cost that is close to the cost incurred by a minimum-energy filter. We provide an...[Show more]
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