Near-optimal deterministic filtering on the rotation group
This technical note considers the problem of obtaining minimum-energy state estimates for a system defined on the rotation group, SO(3). The signals of the system are modeled as purely deterministic signals. We derive a nonlinear observer ("filter") posed directly on SO(3) that respects the geometry of the group and achieves a performance that is close to optimal in the sense of minimizing an integral cost that is measuring the state energy. The performance of the proposed filter is...[Show more]
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|Source:||IEEE Transactions on Automatic Control|
|01_Zamani_Near-optimal_deterministic_2011.pdf||265.5 kB||Adobe PDF||Request a copy|
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