A marginalized particle filter (MPF) is designed for attitude estimation problem. Unit quaternions are used to parameterize rotations. The linear structure in the gyroscope bias dynamics enables us to completely decouple its evolution from quaternion particles. We further show that the linear part of the proposed MPF reaches a steady state, similar to what Kalman filter does for controllable and observable linear stochastic systems. Although the steady-state MPF is similar to the particle filter in structure, it has two advantages: (i) the theoretical superiority of marginalizing linear substructure, and (ii) the reduction in total computational time. Numerical simulations are performed to demonstrated the performance of the proposed filter.
- Dynamic Systems and Control Division
Steady-State Marginalized Particle Filter for Attitude Estimation
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Wang, Y, Wai, D, & Tomizuka, M. "Steady-State Marginalized Particle Filter for Attitude Estimation." Proceedings of the ASME 2014 Dynamic Systems and Control Conference. Volume 2: Dynamic Modeling and Diagnostics in Biomedical Systems; Dynamics and Control of Wind Energy Systems; Vehicle Energy Management Optimization; Energy Storage, Optimization; Transportation and Grid Applications; Estimation and Identification Methods, Tracking, Detection, Alternative Propulsion Systems; Ground and Space Vehicle Dynamics; Intelligent Transportation Systems and Control; Energy Harvesting; Modeling and Control for Thermo-Fluid Applications, IC Engines, Manufacturing. San Antonio, Texas, USA. October 22–24, 2014. V002T25A002. ASME. https://doi.org/10.1115/DSCC2014-5981
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