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Near-optimal deterministic filtering on the rotation group

Zamani, Mohammad; Trumpf, Jochen; Mahony, Robert


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]

CollectionsANU Research Publications
Date published: 2011
Type: Journal article
Source: IEEE Transactions on Automatic Control
DOI: 10.1109/TAC.2011.2109436


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