Attitude Filtering on SO(3)
Attitude Filtering on SO(3)
- New search for: Markley, F. Landis
- New search for: Markley, F. Landis
Abstract A new method is presented for the simultaneous estimation of the attitude of a spacecraft and an N-vector of bias parameters. This method uses a probability distribution function defined on the Cartesian product of SO(3), the group of rotation matrices, and the Euclidean space {xc391-1} The Fokker-Planck equation propagates the probability distribution function between measurements, and Bayes’ formula incorporates measurement update information. This approach avoids all the issues of singular attitude representations or singular covariance matrices encountered in extended Kalman filters. In addition, the filter has a consistent initialization for a completely unknown initial attitude, owing to the fact that SO(3) is a compact space.
Document information
Attitude Filtering on SO(3)
The Journal of the Astronautical Sciences ; 54 , 3 ; 391-413
2006-12-01
23 pages
Article (Journal)
Electronic Resource
English
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