Generalized Multiplicative Extended Kalman Filter for Aided Attitude and Heading Reference System

International audienceIn this paper, we propose a “Generalized Multiplicative Extended Kalman Filter” (GMEKF) to estimate the position and velocity vectors and the orientation of a flying rigid body, using measurements from lowcost Earth-fixed position and velocity, inertial and magnetic sensors. Thanks to well-chosen state and output errors, the gains and covariance equations converge to constant values on a much bigger set of trajectories than equilibrium points as it is the case for the standard Multiplicative Extended Kalman Filter (MEKF). We recover thus the fundamental properties of the Kalman filter in the linear case, especially the convergence and optimality properties, for a large set of trajectories, and it should result in a better convergence of the estimation. We illustrate the good performance and the nice properties of the GMEKF on simulation and on experimental comparisons with a commercial system

Non-linear Symmetry-preserving Observer on Lie Groups

In this paper we give a geometrical framework for the design of observers on finite-dimensional Lie groups for systems which possess some specific symmetries. The design and the error (between true and estimated state) equation are explicit and intrinsic. We consider also a particular case: left-invariant systems on Lie groups with right equivariant output. The theory yields a class of observers such that error equation is autonomous. The observers converge locally around any trajectory, and the global behavior is independent from the trajectory, which reminds of the linear stationary case.Comment: 12 pages. Submitted. Preliminary version publicated in french in the CIFA proceedings and IFAC0

Symmetry-preserving Observers

This paper presents three non-linear observers on three examples of engineering interest: a chemical reactor, a non-holonomic car, and an inertial navigation system. For each example, the design is based on physical symmetries. This motivates the theoretical development of invariant observers, i.e, symmetry-preserving observers. We consider an observer to consist in a copy of the system equation and a correction term, and we give a constructive method (based on the Cartan moving-frame method) to find all the symmetry-preserving correction terms. They rely on an invariant frame (a classical notion) and on an invariant output-error, a less standard notion precisely defined here. For each example, the convergence analysis relies also on symmetries consideration with a key use of invariant state-errors. For the non-holonomic car and the inertial navigation system, the invariant state-errors are shown to obey an autonomous differential equation independent of the system trajectory. This allows us to prove convergence, with almost global stability for the non-holonomic car and with semi-global stability for the inertial navigation system. Simulations including noise and bias show the practical interest of such invariant asymptotic observers for the inertial navigation system.Comment: To be published in IEEE Automatic Contro

Positive contraction mappings for classical and quantum Schrodinger systems

The classical Schrodinger bridge seeks the most likely probability law for a diffusion process, in path space, that matches marginals at two end points in time; the likelihood is quantified by the relative entropy between the sought law and a prior, and the law dictates a controlled path that abides by the specified marginals. Schrodinger proved that the optimal steering of the density between the two end points is effected by a multiplicative functional transformation of the prior; this transformation represents an automorphism on the space of probability measures and has since been studied by Fortet, Beurling and others. A similar question can be raised for processes evolving in a discrete time and space as well as for processes defined over non-commutative probability spaces. The present paper builds on earlier work by Pavon and Ticozzi and begins with the problem of steering a Markov chain between given marginals. Our approach is based on the Hilbert metric and leads to an alternative proof which, however, is constructive. More specifically, we show that the solution to the Schrodinger bridge is provided by the fixed point of a contractive map. We approach in a similar manner the steering of a quantum system across a quantum channel. We are able to establish existence of quantum transitions that are multiplicative functional transformations of a given Kraus map, but only for the case of uniform marginals. As in the Markov chain case, and for uniform density matrices, the solution of the quantum bridge can be constructed from the fixed point of a certain contractive map. For arbitrary marginal densities, extensive numerical simulations indicate that iteration of a similar map leads to fixed points from which we can construct a quantum bridge. For this general case, however, a proof of convergence remains elusive.Comment: 27 page

Rank deficiency of Kalman error covariance matrices in linear time-varying system with deterministic evolution

We prove that for-linear, discrete, time-varying, deterministic system (perfect-model) with noisy outputs, the Riccati transformation in the Kalman filter asymptotically bounds the rank of the forecast and the analysis error covariance matrices to be less than or equal to the number of nonnegative Lyapunov exponents of the system. Further, the support of these error covariance matrices is shown to be confined to the space spanned by the unstable-neutral backward Lyapunov vectors, providing the theoretical justification for the methodology of the algorithms that perform assimilation only in the unstable-neutral subspace. The equivalent property of the autonomous system is investigated as a special case

A Fresh Variational-Analysis Look at the Positive Semidefinite Matrices World

International audienceEngineering sciences and applications of mathematics show unambiguously that positive semidefiniteness of matrices is the most important generalization of non-negative real num- bers. This notion of non-negativity for matrices has been well-studied in the literature; it has been the subject of review papers and entire chapters of books. This paper reviews some of the nice, useful properties of positive (semi)definite matrices, and insists in particular on (i) characterizations of positive (semi)definiteness and (ii) the geometrical properties of the set of positive semidefinite matrices. Some properties that turn out to be less well-known have here a special treatment. The use of these properties in optimization, as well as various references to applications, are spread all the way through. The "raison d'être" of this paper is essentially pedagogical; it adopts the viewpoint of variational analysis, shedding new light on the topic. Important, fruitful, and subtle, the positive semidefinite world is a good place to start with this domain of applied mathematics

From subspace learning to distance learning: a geometrical optimization approach

In this paper, we adopt a differential-geometry viewpoint to tackle the problem of learning a distance online. As this prob- lem can be cast into the estimation of a fixed-rank positive semidefinite (PSD) matrix, we develop algorithms that ex- ploits the rich geometry structure of the set of fixed-rank PSD matrices. We propose a method which separately updates the subspace of the matrix and its projection onto that subspace. A proper weighting of the two iterations enables to continu- ously interpolate between the problem of learning a subspace and learning a distance when the subspace is fixed

Fusion of inertial and visual: a geometrical observer-based approach

Abstract: The problem of combination between inertial sensors and CCD cameras is of paramount importance in various applications in robotics and autonomous navigation. In this paper we develop a totally geometric model for analysis of this problem, independently from a camera model and from the structure of the scene (landmarks etc.). This formulation can be used for data fusion in several inertial navigation problems. The estimation is then decoupled from the structure of the scene. We use it in the particular case of the estimation of the gyroscopes bias and we build a nonlinear observer which is easy to compute, provides an estimation of the biais, filters the image, and is by construction very robust to noise. Keywords: Non-linear observer, geometrical methods, inertial vision. 1