This paper presents a novel nonlinear pose filter evolved directly on the
Special Euclidean Group SE(3) with guaranteed characteristics of transient and
steady-state performance. The above-mention characteristics can be achieved by
trapping the position error and the error of the normalized Euclidean distance
of the attitude in a given large set and guiding them to converge
systematically to a small given set. The error vector is proven to approach the
origin asymptotically from almost any initial condition. The proposed filter is
able to provide a reliable pose estimate with remarkable convergence properties
such that it can be fitted with measurements obtained from low-cost measurement
units. Simulation results demonstrate high convergence capabilities and
robustness considering large error in initialization and high level of
uncertainties in measurements. Keywords: Pose, estimator, observer, attitude,
position, estimate, special orthogonal group, special Euclidean group,
prescribed performance, steady-state, transient response, homogeneous
transformation matrix, complimentary filter, mapping, Parameterization,
Representation, Robust, stability, uncertain, Gaussian, noise, vectorial
measurement, vector measurement, translational velocity, angular velocity,
singular value decomposition, rotational matrix, identity, deterministic,
comparison, inertial frame, rigid body, three dimensional, 3D, space, Lie
group, projection, landmark, feature, gyroscope, micro electromechanical
systems, Inertial measurement units, sensor, IMUs, Fixed, moving, orientation,
Roll, Pitch, Yaw, SVD, UAVs, QUAV, unmanned, underwater vehicle, robot, robotic
System, spacecraft, quadrotor, quadcopter, overview, autonomous, xyz, axis,
SO(3), SE(3).Comment: 2019 American Control Conference (ACC