10,213 research outputs found
Extended Kalman Filter on SE(3) for Geometric Control of a Quadrotor UAV
An extended Kalman filter (EKF) is developed on the special Euclidean group,
SE(3) for geometric control of a quadrotor UAV. It is obtained by performing an
extensive linearization on SE(3) to estimate the state of the quadrotor from
noisy measurements. Proposed estimator considers all the coupling effects
between rotational and translational dynamics, and it is developed in a
coordinate-free fashion. The desirable features of the proposed EKF are
illustrated by numerical examples and experimental results for several
scenarios. The proposed estimation scheme on SE(3) has been unprecedented and
these results can be particularly useful for aggressive maneuvers in GPS denied
environments or in situations where parts of onboard sensors fail.Comment: arXiv admin note: text overlap with arXiv:1304.6765, arXiv:1411.298
Gradient-like observer design on the Special Euclidean group SE(3) with system outputs on the real projective space
A nonlinear observer on the Special Euclidean group for full
pose estimation, that takes the system outputs on the real projective space
directly as inputs, is proposed. The observer derivation is based on a recent
advanced theory on nonlinear observer design. A key advantage with respect to
existing pose observers on is that we can now incorporate in a
unique observer different types of measurements such as vectorial measurements
of known inertial vectors and position measurements of known feature points.
The proposed observer is extended allowing for the compensation of unknown
constant bias present in the velocity measurements. Rigorous stability analyses
are equally provided. Excellent performance of the proposed observers are shown
by means of simulations
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