Journal ArticleDOI
Survey of nonlinear attitude estimation methods
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TLDR
A survey of modern nonlinear filtering methods for attitude estimation based on the Gaussian assumption that the probability density function is adequately specified by its mean and covariance is provided.Abstract:
This paper provides a survey of modern nonlinear filtering methods for attitude estimation. Early applications relied mostly on the extended Kalman filter for attitude estimation. Since these applications, several new approaches have been developed that have proven to be superior to the extended Kalman filter. Several of these approaches maintain the basic structure of the extended Kalman filter, but employ various modifications in order to provide better convergence or improve other performance characteristics. Examples of such approaches include: filter QUEST, extended QUEST and the backwards-smoothing extended Kalman filter. Filters that propagate and update a discrete set of sigma points rather than using linearized equations for the mean and covariance are also reviewed. A twostep approach is discussed with a first-step state that linearizes the measurement model and an iterative second step to recover the desired attitude states. These approaches are all based on the Gaussian assumption that the probability density function is adequately specified by its mean and covariance. Other approaches that do not require this assumption are reviewed, Associate Professor, Department of Mechanical & Aerospace Engineering. Email: johnc@eng.buffalo.edu. Associate Fellow AIAA. Aerospace Engineer, Guidance, Navigation and Control Systems Engineering Branch. Email: Landis.Markley@nasa.gov. Fellow AIAA. Postdoctoral Research Fellow, Department of Mechanical & Aerospace Engineering. Email: cheng3@eng.buffalo.edu. Member AIAA.read more
Citations
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Journal ArticleDOI
Nonlinear Complementary Filters on the Special Orthogonal Group
TL;DR: An observer on SO(3), termed the explicit complementary filter, that requires only accelerometer and gyro outputs; is suitable for implementation on embedded hardware; and provides good attitude estimates as well as estimating the gyro biases online.
Book
Fundamentals of Spacecraft Attitude Determination and Control
TL;DR: In this article, the authors present a static method for determining the attitude of an individual in relation to an object, using a combination of static and dynamic methods. But they do not specify the parameters of the static method.
Proceedings ArticleDOI
A complementary filter for attitude estimation of a fixed-wing UAV
TL;DR: A nonlinear complementary filter is proposed that combines accelerometer output for low frequency attitude estimation with integrated gyrometer output for high frequency estimation that is evaluated against the output from a full GPS/INS that was available for the data set.
Journal ArticleDOI
A Robust Iterated Extended Kalman Filter for Power System Dynamic State Estimation
TL;DR: In this paper, a robust iterated extended Kalman filter (EKF) based on the generalized maximum likelihood approach (termed GM-IEKF), is proposed for estimating power system state dynamics when subjected to disturbances.
References
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Journal ArticleDOI
A survey of convergence results on particle filtering methods for practitioners
Dan Crisan,Arnaud Doucet +1 more
TL;DR: The aim of this paper is to present a survey of convergence results on particle filtering methods to make them accessible to practitioners.
Journal ArticleDOI
New developments in state estimation for nonlinear systems
TL;DR: Based on an interpolation formula, accurate state estimators for nonlinear systems can be derived that do not require derivative information and are simple to implement.
Journal ArticleDOI
Unscented Filtering for Spacecraft Attitude Estimation
TL;DR: In this paper, an unscented filter is used to estimate the attitude of a spacecraft in the presence of a gyro-based model for attitude propagation, and a multiplicative quaternion-error is derived from the local attitude error, which guarantees that quaternions normalization is maintained in the filter.
Journal ArticleDOI
Filtering and smoothing in an H/sup infinity / setting
TL;DR: In this paper, the problems of filtering and smoothing are considered for linear systems in an H/sup infinity / setting, i.e. the plant and measurement noises have bounded energies (are in L/sub 2/), but are otherwise arbitrary.