Optimal attitude estimation and filtering without using local coordinates part I: Uncontrolled and deterministic attitude dynamics

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

26 Scopus citations

Abstract

Most existing algorithms for attitude estimation of mechanical systems use generalized coordinates to represent the group of rigid body rotations. Generalized coordinate representations of the group of rotations have some associated problems. While minimal (local) coordinate representations exhibit kinematic singularities for large rotations, the quaternion representation requires satisfaction of an extra constraint. This paper treats the attitude estimation and filtering problem as a deterministic optimization problem, without using generalized coordinates, in the framework of geometric mechanics. An attitude estimation algorithm and filters are developed, that minimize the attitude and angular velocity estimation errors from noisy measurements. For filter propagation, the attitude kinematics and deterministic dynamics equations (Euler's equations) for a body in an attitude-dependent potential are used. Vector attitude measurements, with or without angular velocity measurements, are used for attitude and angular velocity estimation.

Original languageEnglish (US)
Title of host publicationProceedings of the 2006 American Control Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5734-5739
Number of pages6
ISBN (Print)1424402107, 9781424402106
DOIs
StatePublished - Jan 1 2006
Externally publishedYes
Event2006 American Control Conference - Minneapolis, MN, United States
Duration: Jun 14 2006Jun 16 2006

Publication series

NameProceedings of the American Control Conference
Volume2006
ISSN (Print)0743-1619

Other

Other2006 American Control Conference
CountryUnited States
CityMinneapolis, MN
Period6/14/066/16/06

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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    Sanyal, A. K. (2006). Optimal attitude estimation and filtering without using local coordinates part I: Uncontrolled and deterministic attitude dynamics. In Proceedings of the 2006 American Control Conference (pp. 5734-5739). [1657639] (Proceedings of the American Control Conference; Vol. 2006). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/acc.2006.1657639