Deterministic global attitude estimation

Taeyoung Lee, Amit Sanyal, Melvin Leok, N. Harris McClamroch

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
Pages3174-3179
Number of pages6
StatePublished - Dec 1 2006
Event45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA, United States
Duration: Dec 13 2006Dec 15 2006

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other45th IEEE Conference on Decision and Control 2006, CDC
CountryUnited States
CitySan Diego, CA
Period12/13/0612/15/06

    Fingerprint

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

Cite this

Lee, T., Sanyal, A., Leok, M., & McClamroch, N. H. (2006). Deterministic global attitude estimation. In Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC (pp. 3174-3179). [4177270] (Proceedings of the IEEE Conference on Decision and Control).