Global optimal attitude estimation using uncertainty ellipsoids

Sanyal, Amit K.; Lee, Taeyoung; Leok, Melvin; McClamroch, N. Harris

doi:10.1016/j.sysconle.2007.08.014

Cited by 102 publications

(82 citation statements)

References 27 publications

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“…The initial The discrete-time estimator (27)- (31) is simulated over a time interval of T = 10 s with time stepsize h = 0.01 s. At each instant, (27) is solved using Newton-Raphson iterations to find F i . Then, the rest of the equations (all explicit) are solved consecutively to generate the estimated states.…”

Section: Numerical Simulationsmentioning

confidence: 99%

“…One adverse consequence of these unstable estimation and control schemes is that they end up taking longer to converge compared to stable schemes with the same initial conditions and same initial transient behavior. Attitude observers and filtering schemes on SO(3) and SE(3) have been reported in, e.g., [4], [14], [15], [17], [18], [19], [24], [27], [31], [32]. These estimators do not suffer from kinematic singularities like estimators using coordinate descriptions of attitude, and they do not suffer from the unstable unwinding phenomenon encountered by continuous estimators using unit quaternions.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

GPS-denied relative motion estimation for fixed-wing UAV using the variational pose estimator

Izadi

Sanyal

Beard

et al. 2015

2015 54th IEEE Conference on Decision and Control (CDC)

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Abstract-Relative pose estimation between fixed-wing unmanned aerial vehicles (UAVs) is treated using a stable and robust estimation scheme. The motivating application of this scheme is that of "handoff" of an object being tracked from one fixed-wing UAV to another in a team of UAVs, using onboard sensors in a GPS-denied environment. This estimation scheme uses optical measurements from cameras onboard a vehicle, to estimate both the relative pose and relative velocities of another vehicle or target object. It is obtained by applying the Lagrange-d'Alembert principle to a Lagrangian constructed from measurement residuals using only the optical measurements. This nonlinear pose estimation scheme is discretized for computer implementation using the discrete Lagranged'Alembert principle, with a discrete-time linear filter for obtaining relative velocity estimates from optical measurements. Computer simulations depict the stability and robustness of this estimator to noisy measurements and uncertainties in initial relative pose and velocities.

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Section: Numerical Simulationsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

GPS-denied relative motion estimation for fixed-wing UAV using the variational pose estimator

Izadi

Sanyal

Beard

et al. 2015

2015 54th IEEE Conference on Decision and Control (CDC)

Self Cite

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“…This motivates the development of algorithms that fuse vector measurements, such as those provided by magnetometers or accelerometers, with the angular velocity measurements provided by gyrometers to obtain a more accurate and less noisy attitude estimation [3], [4], [5], [6], [7], [10], [12], [18], [20], [21], [22], [25], [26], [28], [29], [30], [31], [36], [37], [38], [39].…”

Section: Introductionmentioning

confidence: 99%

Implementation of a Nonlinear Attitude Estimator for Aerial Robotic Vehicles

Hua

Ducard

Hamel

et al. 2014

IEEE Trans. Contr. Syst. Technol.

106

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Abstract-Attitude estimation is a key component of the avionics suite of any aerial robotic vehicle. This paper details theoretical and practical solutions in order to obtain a robust nonlinear attitude estimator for flying vehicles equipped with low-cost sensors. The attitude estimator is based on a nonlinear explicit complementary filter that has been significantly enhanced with an effective gyro-bias compensation via the design of an antiwindup nonlinear integrator. A measurement decoupling strategy is proposed in order to make roll and pitch estimation robust to magnetic disturbances that are known to cause errors in yaw estimation. In addition, the paper discusses the fixed-point numerical implementation of the algorithm. Finally, simulation and experimental results confirm the performance of the proposed method.

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“…This line of research was motivated by our prior work on deterministic attitude estimation [2], [3], which is composed of deterministic uncertainty propagation, measurement update, and filtering procedures.…”

Section: Introductionmentioning

confidence: 99%

Propagation of uncertainty in rigid body attitude flows

Lee¹,

Chaturvedi²,

Sanyal

et al. 2007

2007 46th IEEE Conference on Decision and Control

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Abstract-Motivated by attitude control and attitude estimation problems for a rigid body, computational methods are proposed to propagate uncertainties in the angular velocity and the attitude. Uncertainties in the angular velocity and attitude are described in terms of ellipsoidal sets that are propagated through this nonlinear attitude flow. Computational methods are proposed, one method based on a local linearization of the attitude flow and two methods based on propagation of a small (unscented) sample selected from the initial uncertainty ellipsoid. Each of these computational methods is constructed using a Lie group variational integrator, viewed as a discretization of the attitude dynamics. Computational results are obtained that indicate (1) the strongly nonlinear attitude flow characteristics and (2) the limitations of each of these methods, and indeed any method, in providing effective global bounds on the nonlinear attitude flow.

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Global optimal attitude estimation using uncertainty ellipsoids

Cited by 102 publications

References 27 publications

GPS-denied relative motion estimation for fixed-wing UAV using the variational pose estimator

GPS-denied relative motion estimation for fixed-wing UAV using the variational pose estimator

Implementation of a Nonlinear Attitude Estimator for Aerial Robotic Vehicles

Propagation of uncertainty in rigid body attitude flows

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