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
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;
Conference_Titel :
Control Conference (ECC), 2013 European
