MEKF Ignoring Initial Conditions for Attitude Estimation Using Vector Observations

In this paper, the well-known multiplicative extended Kalman filter (MEKF) is re-investigated for attitude estimation using vector observations. From the Lie group theory, it is shown that the attitude estimation model is group affine and its error state model should be trajectory-independent. Moreover, with such trajectory-independent error state model, the linear Kalman filter is still effective for large initialization errors. However, the measurement model of the traditional MEKF is dependent on the attitude prediction, which is therefore trajectory-dependent. This is also the main reason why the performance of traditional MEKF is degraded for large initialization errors. Through substitution of the attitude prediction related term with the vector observation in body frame, a trajectory-independent measurement model is derived for MEKF. Meanwhile, the MEKFs with reference attitude error definition and with global state formulating on special Euclidean group have also been studied, with main focus on derivation of the trajectory-independent measurement models. Extensive Monte Carlo simulations and field test of attitude estimation implementations demonstrate that the performance of MEKFs can be much improved with trajectory-independent measurement models

Dynamics of Dissipative Quantum Hall Edges

We examine the influence of the edge electronic density profile and of dissipation on edge magnetoplasmons in the quantum Hall regime, in a semiclassical calculation. The equilibrium electron density on the edge, obtained using a Thomas-Fermi approach, has incompressible stripes produced by energy gaps responsible for the quantum Hall effect. We find that these stripes have an unobservably small effect on the edge magnetoplasmons. But dissipation, included phenomenologically in the local conductivity, proves to produce significant oscillations in the strength and speed of edge magnetoplasmons in the quantum Hall regime.Comment: 23 pages including 10 figure

Optimization-based Alignment for Strapdown Inertial Navigation System Comparison and Extension

In this paper, the optimization-based alignment (OBA) methods are investigated with main focus on the vector observations construction procedures for the strapdown inertial navigation system (SINS). The contributions of this study are twofold. First the OBA method is extended to be able to estimate the gyroscopes biases coupled with the attitude based on the construction process of the existing OBA methods. This extension transforms the initial alignment into an attitude estimation problem which can be solved using the nonlinear filtering algorithms. The second contribution is the comprehensive evaluation of the OBA methods and their extensions with different vector observations construction procedures in terms of convergent speed and steady-state estimate using field test data collected from different grades of SINS. This study is expected to facilitate the selection of appropriate OBA methods for different grade SINS

Performance measurement : challenges for tomorrow

This paper demonstrates that the context within which performance measurement is used is changing. The key questions posed are: Is performance measurement ready for the emerging context? What are the gaps in our knowledge? and Which lines of enquiry do we need to pursue? A literature synthesis conducted by a team of multidisciplinary researchers charts the evolution of the performance-measurement literature and identifies that the literature largely follows the emerging business and global trends. The ensuing discussion introduces the currently emerging and predicted future trends and explores how current knowledge on performance measurement may deal with the emerging context. This results in identification of specific challenges for performance measurement within a holistic systems-based framework. The principle limitation of the paper is that it covers a broad literature base without in-depth analysis of a particular aspect of performance measurement. However, this weakness is also the strength of the paper. What is perhaps most significant is that there is a need for rethinking how we research the field of performance measurement by taking a holistic systems-based approach, recognizing the integrated and concurrent nature of challenges that the practitioners, and consequently the field, face