Robust error-state Kalman-type filters for attitude estimation
Guardado en:
| Udgivet i: | EURASIP Journal on Advances in Signal Processing vol. 2024, no. 1 (Dec 2024), p. 75 |
|---|---|
| Hovedforfatter: | |
| Andre forfattere: | , , , |
| Udgivet: |
Springer Nature B.V.
|
| Fag: | |
| Online adgang: | Citation/Abstract Full Text - PDF |
| Tags: |
Ingen Tags, Vær først til at tagge denne postø!
|
MARC
| LEADER | 00000nab a2200000uu 4500 | ||
|---|---|---|---|
| 001 | 3079586247 | ||
| 003 | UK-CbPIL | ||
| 022 | |a 1687-6172 | ||
| 022 | |a 1687-6180 | ||
| 024 | 7 | |a 10.1186/s13634-024-01172-w |2 doi | |
| 035 | |a 3079586247 | ||
| 045 | 2 | |b d20241201 |b d20241231 | |
| 084 | |a 130316 |2 nlm | ||
| 100 | 1 | |a Bellés, Andrea |u German Aerospace Center (DLR), Neustrelitz, Germany (GRID:grid.7551.6) (ISNI:0000 0000 8983 7915) | |
| 245 | 1 | |a Robust error-state Kalman-type filters for attitude estimation | |
| 260 | |b Springer Nature B.V. |c Dec 2024 | ||
| 513 | |a Journal Article | ||
| 520 | 3 | |a State estimation techniques appear in a plethora of engineering fields, in particular for the attitude estimation application of interest in this contribution. A number of filters have been devised for this problem, in particular Kalman-type ones, but in their standard form they are known to be fragile against outliers. In this work, we focus on error-state filters, designed for states living on a manifold, here unit-norm quaternions. We propose extensions based on robust statistics, leading to two robust M-type filters able to tackle outliers either in the measurements, in the system dynamics or in both cases. The performance and robustness of these filters is explored in a numerical experiment. We first assess the outlier ratio that they manage to mitigate, and second the type of dynamics outliers that they can detect, showing that the filter performance depends on the measurements’ properties. | |
| 653 | |a State estimation | ||
| 653 | |a Data analysis | ||
| 653 | |a System dynamics | ||
| 653 | |a Robustness (mathematics) | ||
| 653 | |a Quaternions | ||
| 653 | |a Attitudes | ||
| 653 | |a Kalman filters | ||
| 653 | |a Satellites | ||
| 653 | |a Signal processing | ||
| 700 | 1 | |a Medina, Daniel |u German Aerospace Center (DLR), Neustrelitz, Germany (GRID:grid.7551.6) (ISNI:0000 0000 8983 7915) | |
| 700 | 1 | |a Chauchat, Paul |u Aix-Marseille University, CNRS, LIS, Marseille, France (GRID:grid.5399.6) (ISNI:0000 0001 2176 4817) | |
| 700 | 1 | |a Labsir, Samy |u IPSA/TéSA, Toulouse, France (GRID:grid.5399.6) | |
| 700 | 1 | |a Vilà-Valls, Jordi |u ISAE-SUPAERO, Toulouse, France (GRID:grid.462179.f) (ISNI:0000 0001 2188 1378) | |
| 773 | 0 | |t EURASIP Journal on Advances in Signal Processing |g vol. 2024, no. 1 (Dec 2024), p. 75 | |
| 786 | 0 | |d ProQuest |t Advanced Technologies & Aerospace Database | |
| 856 | 4 | 1 | |3 Citation/Abstract |u https://www.proquest.com/docview/3079586247/abstract/embedded/6A8EOT78XXH2IG52?source=fedsrch |
| 856 | 4 | 0 | |3 Full Text - PDF |u https://www.proquest.com/docview/3079586247/fulltextPDF/embedded/6A8EOT78XXH2IG52?source=fedsrch |