Consensus estimation of rigid body motion using lie algebra se(3) and the consensus extended kalman filter

Jingwei Wang, Eric Butcher, Tansel Yucelen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In the framework of geometric mechanics, the consensus extended Kalman flter is em-ployed for the problem of estimation of rigid body motion using position measurements from feature points. The position and attitude (pose) of the rigid body is represented by Lie algebra se(3). In the proposed strategy multiple sensors in a communication network corporately estimate the motion of the rigid body by using the consensus extended Kalman flter. Numerical results demonstrate that the flter can converge on the true state when measurements of three feature points are processed by a single Kalman flter. When multiple flters are allowed to communicate their local estimates with each other within a connected communication network, the fltering performance (estimation error and covari-ance envelope) is greatly improved and the number of feature points required to guarantee the observability can be relaxed.

Original languageEnglish (US)
Title of host publicationAIAA Scitech 2019 Forum
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)9781624105784
DOIs
StatePublished - Jan 1 2019
EventAIAA Scitech Forum, 2019 - San Diego, United States
Duration: Jan 7 2019Jan 11 2019

Publication series

NameAIAA Scitech 2019 Forum

Conference

ConferenceAIAA Scitech Forum, 2019
CountryUnited States
CitySan Diego
Period1/7/191/11/19

Fingerprint

Extended Kalman filters
Algebra
Telecommunication networks
Position measurement
Observability
Error analysis
Mechanics
Sensors

ASJC Scopus subject areas

  • Aerospace Engineering

Cite this

Wang, J., Butcher, E., & Yucelen, T. (2019). Consensus estimation of rigid body motion using lie algebra se(3) and the consensus extended kalman filter. In AIAA Scitech 2019 Forum (AIAA Scitech 2019 Forum). American Institute of Aeronautics and Astronautics Inc, AIAA. https://doi.org/10.2514/6.2019-1163

Consensus estimation of rigid body motion using lie algebra se(3) and the consensus extended kalman filter. / Wang, Jingwei; Butcher, Eric; Yucelen, Tansel.

AIAA Scitech 2019 Forum. American Institute of Aeronautics and Astronautics Inc, AIAA, 2019. (AIAA Scitech 2019 Forum).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Wang, J, Butcher, E & Yucelen, T 2019, Consensus estimation of rigid body motion using lie algebra se(3) and the consensus extended kalman filter. in AIAA Scitech 2019 Forum. AIAA Scitech 2019 Forum, American Institute of Aeronautics and Astronautics Inc, AIAA, AIAA Scitech Forum, 2019, San Diego, United States, 1/7/19. https://doi.org/10.2514/6.2019-1163
Wang J, Butcher E, Yucelen T. Consensus estimation of rigid body motion using lie algebra se(3) and the consensus extended kalman filter. In AIAA Scitech 2019 Forum. American Institute of Aeronautics and Astronautics Inc, AIAA. 2019. (AIAA Scitech 2019 Forum). https://doi.org/10.2514/6.2019-1163
Wang, Jingwei ; Butcher, Eric ; Yucelen, Tansel. / Consensus estimation of rigid body motion using lie algebra se(3) and the consensus extended kalman filter. AIAA Scitech 2019 Forum. American Institute of Aeronautics and Astronautics Inc, AIAA, 2019. (AIAA Scitech 2019 Forum).
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