Learning-based Attitude Estimation with Noisy Measurements and Unknown Gyro Bias
Optimization and Control
2025-01-15 v2
Abstract
This paper introduces a learning-based, data-driven attitude estimator, called the retrospective cost attitude estimator (RCAE), for the SO(3) attitude representation. RCAE is motivated by the multiplicative extended Kalman filter (MEKF). However, unlike MEKF, which requires computing a Jacobian to compute the correction signal, RCAC uses retrospective cost optimization that depends only on the measured data. Moreover, due to the structure of the correction signal, RCAE does not require explicit estimation of gyro bias. The performance of RCAE is verified and compared with MEKF through both numerical simulations and physical experiments.
Keywords
Cite
@article{arxiv.2401.13092,
title = {Learning-based Attitude Estimation with Noisy Measurements and Unknown Gyro Bias},
author = {Parham Oveissi and Mohammad Mirtaba and Ankit Goel},
journal= {arXiv preprint arXiv:2401.13092},
year = {2025}
}