Title :
Attitude estimation and Brownian motion on SO(3)
Author_Institution :
Sch. of Electr. Eng. & Telecommun., Univ. of New South Wales, Sydney, NSW, Australia
Abstract :
We consider attitude estimation with a stochastic state space model for rotational motion. To construct that model we develop some new results for constructing diffusions and Brownian motion on a Riemannian Manifold. Using these results we construct, a state space model for Brownian motion on SO(3). We then indicate the application of this model to attitude estimation.
Keywords :
Brownian motion; differential geometry; diffusion; state-space methods; stochastic processes; Brownian motion; Riemannian manifold; attitude estimation; diffusion; rotational motion; stochastic state space model; Calculus; Equations; Estimation; Manifolds; Mathematical model; Noise measurement; Stochastic processes;
Conference_Titel :
Decision and Control (CDC), 2010 49th IEEE Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
978-1-4244-7745-6
DOI :
10.1109/CDC.2010.5717632
