Comparison of an attitude estimator based on the Lagrange-d'Alembert principle with some state-of-the-art filters

Maziar Izadi, Ehsan Samiei, Amit Sanyal, Vijay Kumar

Research output: Contribution to journalConference article

12 Citations (Scopus)

Abstract

Discrete-time estimation of rigid body attitude and angular velocity without any knowledge of the attitude dynamics model, is treated using the discrete Lagrange-d'Alembert principle. Using body-fixed sensor measurements of direction vectors and angular velocity, a Lagrangian is obtained as the difference between a kinetic energy-like term that is quadratic in the angular velocity estimation error, and an artificial potential obtained from Wahba's function. An additional dissipation term that depends linearly on the angular velocity estimation error is introduced, and the discrete Lagrange-d'Alembert principle is applied to the Lagrangian with this dissipation. An implicit and an explicit first-order version of this discrete-time estimation scheme is presented. A comparison of this estimator is made with certain state-of-the-art attitude estimators in the absence of bias in sensor readings. Numerical simulations show that this estimator is robust and unlike extended Kalman filter-based schemes, its convergence does not depend on the gain values. In addition, the variational estimator is found to be more computationally efficient than these other estimators.

Original languageEnglish (US)
Article number7139587
Pages (from-to)2848-2853
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2015-June
Issue numberJune
DOIs
StatePublished - Jan 1 2015
Externally publishedYes
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: May 26 2015May 30 2015

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Angular velocity
Error analysis
Sensors
Extended Kalman filters
Kinetic energy
Dynamic models
Computer simulation

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Comparison of an attitude estimator based on the Lagrange-d'Alembert principle with some state-of-the-art filters. / Izadi, Maziar; Samiei, Ehsan; Sanyal, Amit; Kumar, Vijay.

In: Proceedings - IEEE International Conference on Robotics and Automation, Vol. 2015-June, No. June, 7139587, 01.01.2015, p. 2848-2853.

Research output: Contribution to journalConference article

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