相关论文: Nonlinear Stochastic Attitude Filters on the Speci…
This work proposes a nonlinear stochastic filter evolved on the Special Orthogonal Group SO(3) as a solution to the attitude filtering problem. One of the most common potential functions for nonlinear deterministic attitude observers is…
This paper formulates the pose estimation problem as nonlinear stochastic filter kinematics evolved directly on the Special Euclidean Group SE(3). Proposed filter guarantees that the errors present in position and Rodriguez vector estimates…
This paper proposes two novel nonlinear attitude filters evolved directly on the Special Orthogonal Group SO(3) able to ensure prescribed measures of transient and steady-state performance. The tracking performance of the normalized…
This paper introduces two novel nonlinear stochastic attitude estimators developed on the Special Orthogonal Group \mathbb{SO}\left(3\right) with the tracking error of the normalized Euclidean distance meeting predefined transient and…
Successful control of a rigid-body rotating in three dimensional space requires accurate estimation of its attitude. The attitude dynamics are highly nonlinear and are posed on the Special Orthogonal Group $SO(3)$. In addition, measurements…
Two novel robust nonlinear stochastic full pose (i.e, attitude and position) estimators on the Special Euclidean Group SE(3) are proposed using the available uncertain measurements. The resulting estimators utilize the basic structure of…
This paper proposes a novel geometric nonlinear filter for attitude and bias estimation on the Special Orthogonal Group $SO(3)$ using matrix measurements. The structure of the proposed filter is similar to that of the continuous-time…
We revisit the nonlinear complimentary filter on $SO(3)$, previously proposed in the literature, and provide the (time-explicit) solution to the matrix ODE governing the attitude estimation error in the absence of measurement errors. The…
The problem of $H_{\infty}$ filtering for attitude estimation using rotation matrices and vector measurements is studied. Starting from a storage function on the Special Orthogonal Group $SO(3)$, a dissipation inequality is considered, and…
Attitude estimation using scalar measurements, corresponding to partial vectorial observations, arises naturally when inertial vectors are not fully observed but only measured along specific body-frame vectors. Such measurements arise in…
We revisit the gradient based nonlinear attitude complementary filters (observers) on the Special Orthogonal group SO(3) and provide explicit solutions of the norm of the attitude estimation error dynamics. One smooth and two non-smooth…
This paper presents a novel nonlinear pose filter evolved directly on the Special Euclidean Group SE(3) with guaranteed characteristics of transient and steady-state performance. The above-mention characteristics can be achieved by trapping…
Two novel nonlinear pose (i.e, attitude and position) filters developed directly on the Special Euclidean Group SE(3)able to guarantee prescribed characteristics of transient and steady-state performance are proposed. The position error and…
Successful navigation of a rigid-body traveling with six degrees of freedom (6 DoF) requires accurate estimation of attitude , position, and linear velocity. The true navigation dynamics are highly nonlinear and are modeled on the matrix…
This paper proposes a real-time neural network (NN) stochastic filter-based controller on the Lie Group of the Special Orthogonal Group $SO(3)$ as a novel approach to the attitude tracking problem. The introduced solution consists of two…
This paper concerns the estimation problem of attitude, position, and linear velocity of a rigid-body autonomously navigating with six degrees of freedom (6 DoF). The navigation dynamics are highly nonlinear and are modeled on the matrix…
The attitude of a rigid-body in the three dimensional space has a unique and global definition on the Special Orthogonal Group SO (3). This paper gives an overview of the rotation matrix, attitude kinematics and parameterization. The four…
This paper concerns the problem of attitude determination and estimation. The early applications considered algebraic methods of attitude determination. Attitude determination algorithms were supplanted by the Gaussian attitude estimation…
Accurate camera motion estimation is a fundamental building block for many Computer Vision algorithms. For improved robustness, temporal consistency of translational and rotational camera velocity is often assumed by propagating motion…
There are several attitude estimation algorithms in existence, all of which use local coordinate representations for the group of rigid body orientations. All local coordinate representations of the group of orientations have associated…