文章基本信息

标题：On the Effect of Stabilization Methods for Quaternion Invariants on the Uncertainty in Optimization-based Estimation ⁎
本地全文：下载
作者：Fabian Girrbach ; Jeroen D. Hol ; Raymond Zandbergen 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：25
页码：116-121
DOI：10.1016/j.ifacol.2018.11.091
语种：English
出版社：Elsevier
摘要：AbstractThe handling of 3D orientations is a common element in many problems that arise in the estimation and control of dynamic systems. Over-parametrizations such as unit quaternions are commonly used to avoid singularities but come with the property of an invariant which needs to be preserved. By using numerical optimization methods, these invariants are subject to numeric errors and require stabilization. In this work, we adopt methods known from optimal control for the problem of state estimation. We present an optimization-based attitude estimator using the measurements of an inertial measurement unit and evaluate the performance of a first-order stabilization of the invariant by modifying the dynamics. The uncertainties of the estimator are analyzed for different configurations of the proposed stabilization. Finally, we show how the stabilization affects the estimation of parameters and justify the use of an additional equality constraint for the invariant to yield more robust and consistent results.
关键词：KeywordsEstimation algorithmsoptimal estimationinvariantsattitude algorithms