DocumentCode
3158243
Title
Averaging stability analysis of a new attitude estimation algorithm
Author
Solo, Victor
Author_Institution
Sch. of Electr. Eng. & Telecommun., Univ. of New South Wales, Sydney, NSW, Australia
fYear
2012
fDate
25-30 March 2012
Firstpage
3289
Lastpage
3292
Abstract
The most common approach to attitude estimation involves direct estimation of the rotation matrix or its associated quaternion. This results in a difficult constrained estimation problem. Here instead we develop a new online algorithm that directly estimates the angular velocity which is unconstrained. The rotation matrix or quaternion is then easily obtained from the kinematics. We sketch an averaging analysis of stability of the new algorithm.
Keywords
attitude measurement; direction-of-arrival estimation; matrix algebra; stability; angular velocity estimation; attitude estimation algorithm; averaging stability analysis; constrained estimation problem; direct rotation matrix estimation; online algorithm; quaternion estimation; Algorithm design and analysis; Angular velocity; Equations; Estimation; Noise measurement; Quaternions; Stability analysis; SO(3); attitude estimation; averaging; rotation matrix;
fLanguage
English
Publisher
ieee
Conference_Titel
Acoustics, Speech and Signal Processing (ICASSP), 2012 IEEE International Conference on
Conference_Location
Kyoto
ISSN
1520-6149
Print_ISBN
978-1-4673-0045-2
Electronic_ISBN
1520-6149
Type
conf
DOI
10.1109/ICASSP.2012.6288618
Filename
6288618
Link To Document