Loading...
Please wait, while we are loading the content...
Similar Documents
Attitude filtering on so(3)
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Markley Sr., F. Landis |
| Copyright Year | 2005 |
| Description | A new method is presented for the simultaneous estimation of the attitude of a spacecraft and an N-vector of bias parameters. This method uses a probability distribution function defined on the Cartesian product of SO(3), the group of rotation matrices, and the Euclidean space W N .The Fokker-Planck equation propagates the probability distribution function between measurements, and Bayes s formula incorporates measurement update information. This approach avoids all the issues of singular attitude representations or singular covariance matrices encountered in extended Kalman filters. In addition, the filter has a consistent initialization for a completely unknown initial attitude, owing to the fact that SO(3) is a compact space. |
| File Size | 24363382 |
| Page Count | 27 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_20050243579 |
| Archival Resource Key | ark:/13960/t3xt0pb3g |
| Language | English |
| Publisher Date | 2005-05-09 |
| Access Restriction | Open |
| Subject Keyword | Numerical Analysis Attitude Inclination Probability Theory Fokker-planck Equation Kalman Filters Matrices Mathematics Distribution Functions Cartesian Coordinates Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Article |
