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Minimum-Energy Filtering for Attitude Estimation
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DOI：10.1109/TAC.2013.2259092.png)
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摘要
En 中文
In this work, we study minimum-energy filtering for attitude kinematics with vectorial measurements using Mortensen's approach. The exact form of a minimum-energy attitude observer is derived and is shown to depend on the Hessian of the value function of an associated optimal control problem. A suitably chosen matrix representation of the Hessian operator leads to a Riccati equation that approximates a minimum-energy attitude filter. An extended version of the proposed approximate filter is included for a situation where there is slowly time-varying bias in the gyro measurements. A unit quaternion version of the proposed filter is derived and shown to outperform the multiplicative extended Kalman filter (MEKF) for situations with large initialization errors or large measurement errors.
Keyword:
Invariant extended Kalman filter (IEKF)
multiplicative extended Kalman filter (MEKF)
unscented Kalman filter (UKF)
unscented quaternion estimator (USQUE)
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期刊
IF:
7
论文数:
1.3W
被引数:
6.7W
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