Global unscented attitude estimation via the matrix Fisher distributions on SO(3)
Global unscented attitude estimation via the matrix Fisher distributions on SO(3)
复制标题
通过 SO(3) 上的矩阵 Fisher 分布进行全局无味态度估计
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
Taeyoung Lee
中科院分区：
文献类型：
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作者：
Taeyoung Lee
研究了刚体姿态动力学在特殊正交群上的概率估计问题。我们选择矩阵Fisher分布来表示姿态估计和测量的不确定性，而不需要局部坐标。给出了矩阵Fisher分布在特殊正交群上的若干性质，并提出了一种通过选择sigma点来逼近矩阵Fisher分布的无迹变换.在此基础上，发展了一个内在的、全局的贝叶斯姿态估计框架。结果表明，该方法可以成功地处理大的初始估计误差和大的不确定性，在复杂的机动，以获得准确的姿态估计。
This paper is focused on probabilistic estimation for the attitude dynamics of a rigid body on the special orthogonal group. We select the matrix Fisher distribution to represent the uncertainties of attitude estimates and measurements in a global fashion without need for local coordinates. Several properties of the matrix Fisher distribution on the special orthogonal group are presented, and an unscented transform is proposed to approximate a matrix Fisher distribution by selected sigma points. Based on these, an intrinsic, global framework for Bayesian attitude estimation is developed. It is shown that the proposed approach can successfully deal with large initial estimator errors and large uncertainties over complex maneuvers to obtain accurate estimates of the attitude.