The estimation of the orientation of a rigid body is important in the aerospace and robotics fields. The attitude of a rigid body is naturally described by a rotation matrix, which belongs to the special orthogonal group of rigid-body rotations, denoted by S O ( 3 ) . Because of the orthonormality and determinant constraints, parameterizations of S O ( 3 ) are often used. However, parameterizations may suffer from singularities or nonuniqueness of representation. Recently, there has been significant interest in working directly with S O ( 3 ) and more generally with S O ( n ) . This paper presents a discrete-time Kalman-like filter that performs estimation directly on S O ( n ) . The filter presented honors the orthonormality and determinant constraints associated with S O ( n ) . The developed filter is applied to a spacecraft attitude estimation problem that involves estimation on S O ( 3 ) × R 3 . Its effectiveness is demonstrated in a numerical example, comparing its performance with the well-established multiplicative extended Kalman filter and the recently developed norm-constrained extended Kalman filter.


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    Title :

    Discrete-Time S O ( n ) -Constrained Kalman Filtering


    Contributors:

    Published in:

    Publication date :

    2017-01-01




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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