A critical comparison on attitude estimation: From gaussian approximate filters to coordinate-free dual optimal control

作     者：Koumpis, N. P. Panagiotou, P. A. Arvanitakis, I. 

作者机构：Delft Ctr Syst & Control Fac Mech Maritime & Mat Engn Mekelweg 2 NL-2628 CD Delft Netherlands Univ Sheffield Fac Elect & Elect Engn Sheffield S Yorkshire England Coventry Univ Fac Engn Environm & Comp Coventry W Midlands England 

出 版 物：《IET CONTROL THEORY AND APPLICATIONS》 (IET控制论与应用)

年 卷 期：2021年第15卷第10期

页      面：1297-1313页

核心收录：

学科分类：0808[工学-电气工程] 08[工学] 0804[工学-仪器科学与技术] 0811[工学-控制科学与工程] 

主　　题：Filtering methods in signal processing Signal processing theory Spatial variables control Other topics in statistics Combinatorial mathematics Other topics in statistics Combinatorial mathematics Optimal control 

摘      要：This paper conveys attitude and rate estimation without rate sensors by performing a critical comparison, validated by extensive simulations. The two dominant approaches to facilitate attitude estimation are based on stochastic and set-membership reasoning. The first one mostly utilizes the commonly known Gaussian-approximate filters, namely the EKF and UKF. Although more conservative, the latter seems to be more promising as it considers the inherent geometric characteristics of the underline compact state space and accounts-from first principles-for large model errors. The set-theoretic approach from a control point of view is addressed, and it is shown that it can overcome reported deficiencies of the Bayesian architectures related to this problem, leading to coordinate-free optimal filters. Lastly, as an example, a modified predictive filter is derived on the tangent bundle of the special orthogonal group TSO(3).