Near-optimal deterministic filtering on the rotation group
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Zamani, Mohammad; Trumpf, Jochen; Mahony, Robert
Description
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]
dc.contributor.author | Zamani, Mohammad | |
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dc.contributor.author | Trumpf, Jochen | |
dc.contributor.author | Mahony, Robert | |
dc.date.accessioned | 2015-12-10T23:32:22Z | |
dc.identifier.issn | 0018-9286 | |
dc.identifier.uri | http://hdl.handle.net/1885/68809 | |
dc.description.abstract | 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 demonstrated in simulations involving large initialization, process and measurement errors where the results are compared against a quaternion implementation of an Extended Kalman Filter. Our results indicate that the proposed filter achieves better robustness against a range of noise levels and initialization errors. | |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE Inc) | |
dc.source | IEEE Transactions on Automatic Control | |
dc.subject | Keywords: Attitude estimation; deterministic filtering; Deterministic signals; minimum-energy state estimation; Noise levels; Non-linear observer; Rotation group; Special orthogonal group; State energy; State estimates; Technical notes; Estimation; Optimization; Ro Attitude estimation; deterministic filtering; minimum-energy state estimation; special orthogonal group | |
dc.title | Near-optimal deterministic filtering on the rotation group | |
dc.type | Journal article | |
local.description.notes | Imported from ARIES | |
local.identifier.citationvolume | 56 | |
dc.date.issued | 2011 | |
local.identifier.absfor | 090602 - Control Systems, Robotics and Automation | |
local.identifier.ariespublication | f2965xPUB1836 | |
local.type.status | Published Version | |
local.contributor.affiliation | Zamani, Mohammad, College of Engineering and Computer Science, ANU | |
local.contributor.affiliation | Trumpf, Jochen, College of Engineering and Computer Science, ANU | |
local.contributor.affiliation | Mahony, Robert, College of Engineering and Computer Science, ANU | |
local.description.embargo | 2037-12-31 | |
local.bibliographicCitation.issue | 6 | |
local.bibliographicCitation.startpage | (A5704550)1411 | |
local.bibliographicCitation.lastpage | 1414 | |
local.identifier.doi | 10.1109/TAC.2011.2109436 | |
local.identifier.absseo | 970101 - Expanding Knowledge in the Mathematical Sciences | |
dc.date.updated | 2016-02-24T08:18:14Z | |
local.identifier.scopusID | 2-s2.0-79958278229 | |
local.identifier.thomsonID | 000291430200015 | |
Collections | ANU Research Publications |
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