Tikhonov-Galerkin stochastic system identification in SO(3)

Author

Piggott, M.J. ; Solo, V.

Author_Institution

Sch. of Electr. Eng. & Telecommun., Univ. of New South Wales, Sydney, NSW, Australia

fYear

2015

fDate

19-24 April 2015

Firstpage

4175

Lastpage

4179

Abstract

We consider estimation of the angular velocity of a satellite undergoing noisy process dynamics. Modelling the attitude as a diffusion process evolving in SO(3), we propose an offline nonparametric estimator of the angular velocity over an interval based on noise free observations of the attitude. This is an ill-posed problem, and Tikhonov regularization is employed along with a Fourier-Galerkin method to solve the resulting stochastic Euler equation. A geometry preserving numerical scheme is proposed to simulate the attitude dynamics. Simulations are given which provide heuristics for choosing the regularization parameter in different SNR scenarios.

Keywords

Galerkin method; angular velocity; artificial satellites; control system synthesis; kinematics; stochastic processes; Fourier-Galerkin method; Tikhonov regularization; Tikhonov-Galerkin stochastic system identification; angular velocity; diffusion process; ill posed problem; noise free observations; noisy process dynamics; offline nonparametric estimator; satellite; stochastic Euler equation; Art; Estimation; Gradient methods; Method of moments; Attitude estimation; Lie group integrator; Tikhonov regularization;

fLanguage

English

Publisher

ieee

Conference_Titel

Acoustics, Speech and Signal Processing (ICASSP), 2015 IEEE International Conference on

Conference_Location

South Brisbane, QLD

Type

conf

DOI

10.1109/ICASSP.2015.7178757

Filename

7178757