Jae-Hyeon Park, Karmvir Singh Phogat, Whimin Kim, D. Chang
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引用次数: 3
Abstract
In this article, we devise a variant of the extended Kalman filter that can be generally applied to systems on manifolds with simplicity and low computational cost. We extend a given system on a manifold to an ambient open set in Euclidean space and modify the system such that the extended system is transversely stable on the manifold. Then, we apply the standard extended Kalman filter derived in Euclidean space to the modified dynamics. This method is efficient in terms of computation and accurate in comparison with the standard extended Kalman filter. It has the merit that we can apply various Kalman filters derived in Euclidean space including extended Kalman filters for state estimation for systems defined on manifolds. The proposed method is successfully applied to the rigid body attitude dynamics whose configuration space is the special orthogonal group in three dimensions.
期刊介绍:
The Journal of Dynamic Systems, Measurement, and Control publishes theoretical and applied original papers in the traditional areas implied by its name, as well as papers in interdisciplinary areas. Theoretical papers should present new theoretical developments and knowledge for controls of dynamical systems together with clear engineering motivation for the new theory. New theory or results that are only of mathematical interest without a clear engineering motivation or have a cursory relevance only are discouraged. "Application" is understood to include modeling, simulation of realistic systems, and corroboration of theory with emphasis on demonstrated practicality.