DocumentCode
3584060
Title
Deterministic filtering for optimal attitude estimation on SO(3) using max-plus methods
Author
Sridharan, Sridha ; McEneaney, William M.
Author_Institution
Dept. of Mech. & Aerosp. Eng., Univ. of California, San Diego, La Jolla, CA, USA
fYear
2013
Firstpage
2220
Lastpage
2225
Abstract
In this article we introduce the use of recently developed min/max-plus techniques in order to solve the optimal attitude estimation problem in filtering for nonlinear systems on the special orthogonal (SO(3)) group. This work helps synthesize deterministic filters for nonlinear systems - i.e. optimal filters which estimate the system state using a related optimal control problem. The technique indicated herein is validated using a set of optimal attitude estimation example problems on SO(3).
Keywords
filtering theory; nonlinear control systems; optimal control; state estimation; deterministic filtering; max-plus methods; nonlinear systems; optimal attitude estimation problem; optimal control problem; optimal filters; orthogonal SO(3) group; system state estimation; Cost function; Dynamic programming; Measurement uncertainty; Noise; Noise measurement; Nonlinear systems; Time measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ECC), 2013 European
Type
conf
Filename
6669396
Link To Document