1 research outputs found
Fast RodFIter for Attitude Reconstruction from Inertial Measurements
Attitude computation is of vital importance for a variety of applications.
Based on the functional iteration of the Rodrigues vector integration equation,
the RodFIter method can be advantageously applied to analytically reconstruct
the attitude from discrete gyroscope measurements over the time interval of
interest. It is promising to produce ultra-accurate attitude reconstruction.
However, the RodFIter method imposes high computational load and does not lend
itself to onboard implementation. In this paper, a fast approach to
significantly reduce RodFIter's computation complexity is presented while
maintaining almost the same accuracy of attitude reconstruction. It
reformulates the Rodrigues vector iterative integration in terms of the
Chebyshev polynomial iteration. Due to the excellent property of Chebyshev
polynomials, the fast RodFIter is achieved by means of appropriate truncation
of Chebyshev polynomials, with provably guaranteed convergence. Moreover,
simulation results validate the speed and accuracy of the proposed method.Comment: 7 figure