Global Optimal Attitude Estimation using Uncertainty Ellipsoids

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dc.creatorSanyal, Amit K.
dc.creatorLee, Taeyoung
dc.creatorLeok, Melvin
dc.creatorMcClamroch, N. Harris
dc.date2006-06-04
dc.date.accessioned2026-07-07T07:14:46Z
dc.date.available2026-07-07T07:14:46Z
dc.descriptionA deterministic attitude estimation problem for a rigid body in a potential field, with bounded attitude and angular velocity measurement errors is considered. An attitude estimation algorithm that globally minimizes the attitude estimation error is obtained. Assuming that the initial attitude, the initial angular velocity and measurement noise lie within given ellipsoidal bounds, an uncertainty ellipsoid that bounds the attitude and the angular velocity of the rigid body is obtained. The center of the uncertainty ellipsoid provides point estimates, and the size of the uncertainty ellipsoid measures the accuracy of the estimates. The point estimates and the uncertainty ellipsoids are propagated using a Lie group variational integrator and its linearization, respectively. The attitude and angular velocity estimates are optimal in the sense that the sizes of the uncertainty ellipsoids are minimized.
dc.description20 pages, 2 figures
dc.identifierhttps://arxiv.org/abs/math/0606083
dc.identifierhttp://arxiv.org/abs/math/0606083
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/113017
dc.subjectOptimization and Control
dc.titleGlobal Optimal Attitude Estimation using Uncertainty Ellipsoids
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