TY - GEN

T1 - Deterministic global attitude estimation

AU - Lee, Taeyoung

AU - Sanyal, Amit

AU - Leok, Melvin

AU - McClamroch, N. Harris

PY - 2006

Y1 - 2006

N2 - A deterministic attitude estimation problem for a rigid body in an attitude dependent potential field with bounded measurement errors is studied. An attitude estimation scheme that does not use generalized coordinate representations of the attitude is presented here. Assuming that the initial attitude, angular velocity and measurement noise lie within given ellipsoidal bounds, an uncertainty ellipsoid that bounds the attitude and the angular velocity of the rigid body is obtained. The center of the uncertainty ellipsoid provides point estimates, and its size gives the accuracy of the estimates. The point estimates and the uncertainty ellipsoids are propagated using a Lie group variational integrator and its linearization, respectively. The estimation scheme is optimal in the sense that the attitude estimation error and the size of the uncertainty ellipsoid is minimized at each measurement instant, and it is global since the attitude is represented by a rotation matrix.

AB - A deterministic attitude estimation problem for a rigid body in an attitude dependent potential field with bounded measurement errors is studied. An attitude estimation scheme that does not use generalized coordinate representations of the attitude is presented here. Assuming that the initial attitude, angular velocity and measurement noise lie within given ellipsoidal bounds, an uncertainty ellipsoid that bounds the attitude and the angular velocity of the rigid body is obtained. The center of the uncertainty ellipsoid provides point estimates, and its size gives the accuracy of the estimates. The point estimates and the uncertainty ellipsoids are propagated using a Lie group variational integrator and its linearization, respectively. The estimation scheme is optimal in the sense that the attitude estimation error and the size of the uncertainty ellipsoid is minimized at each measurement instant, and it is global since the attitude is represented by a rotation matrix.

UR - http://www.scopus.com/inward/record.url?scp=39549105025&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=39549105025&partnerID=8YFLogxK

U2 - 10.1109/cdc.2006.376688

DO - 10.1109/cdc.2006.376688

M3 - Conference contribution

AN - SCOPUS:39549105025

SN - 1424401712

SN - 9781424401710

T3 - Proceedings of the IEEE Conference on Decision and Control

SP - 3174

EP - 3179

BT - Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 45th IEEE Conference on Decision and Control 2006, CDC

Y2 - 13 December 2006 through 15 December 2006

ER -