TY - JOUR
T1 - Global optimal attitude estimation using uncertainty ellipsoids
AU - Sanyal, Amit K.
AU - Lee, Taeyoung
AU - Leok, Melvin
AU - McClamroch, N. Harris
N1 - Funding Information:
We gratefully acknowledge helpful comments and suggestions of the referee. AKS supported in part by a Faculty Development Grant from the University of Hawaii. TL and ML supported in part by NSF under Grants DMS-0504747, DMS-0726263 and a Grant from the Rackham Graduate School, University of Michigan. TL and NHM supported in part by NSF under Grant ECS-0244977 and CMS-0555797.
PY - 2008/3
Y1 - 2008/3
N2 - A deterministic attitude estimation problem for a rigid body in a potential field, with bounded attitude and angular velocity measurement errors is considered. An attitude estimation algorithm that globally minimizes the attitude estimation error is obtained. Assuming that the initial attitude, the initial 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 the size of the uncertainty ellipsoid measures 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 attitude and angular velocity estimates are optimal in the sense that the sizes of the uncertainty ellipsoids are minimized.
AB - A deterministic attitude estimation problem for a rigid body in a potential field, with bounded attitude and angular velocity measurement errors is considered. An attitude estimation algorithm that globally minimizes the attitude estimation error is obtained. Assuming that the initial attitude, the initial 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 the size of the uncertainty ellipsoid measures 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 attitude and angular velocity estimates are optimal in the sense that the sizes of the uncertainty ellipsoids are minimized.
KW - Deterministic estimation
KW - Global attitude representation
KW - Uncertainty ellipsoids
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U2 - 10.1016/j.sysconle.2007.08.014
DO - 10.1016/j.sysconle.2007.08.014
M3 - Article
AN - SCOPUS:43049142661
SN - 0167-6911
VL - 57
SP - 236
EP - 245
JO - Systems and Control Letters
JF - Systems and Control Letters
IS - 3
ER -