SE(3)-Constrained Extended Kalman Filtering for Rigid Body Pose Estimation

Mathavaraj S; Eric Butcher

doi:10.1109/TAES.2021.3139291

SE(3)-Constrained Extended Kalman Filtering for Rigid Body Pose Estimation

Research output: Contribution to journal › Article › peer-review

Abstract

In this paper, an SE(3)-constrained extended Kalman filter is proposed in continuous time as well as in a more practical continuous-discrete framework. The filter allows for the state estimation of the 6-DOF rigid body motion while accounting for measurement error statistics and using the rotation matrix instead of an quaternions or other attitude parameterizations. The proposed filter differs from the recently proposed SO(3)-constrained attitude filter in that only a subset of the configuration states are constrained in the present filter. Its effectiveness is demonstrated in a numerical example in which its performance is compared with that of an existing SE(3) estimator from the literature and a Monte Carlo simulation is out carried out to provide credence to the accuracy of the proposed filter.

Original language	English (US)
Journal	IEEE Transactions on Aerospace and Electronic Systems
DOIs	https://doi.org/10.1109/TAES.2021.3139291
State	Accepted/In press - 2021

Keywords

Aerodynamics
Estimation
Kalman filter
Kalman filters
Optical sensors
Optical variables measurement
Quaternions
SE(3)
Velocity measurement
pose estimation
rigid bodies
rotation matrix

ASJC Scopus subject areas

Aerospace Engineering
Electrical and Electronic Engineering

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10.1109/TAES.2021.3139291

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title = "SE(3)-Constrained Extended Kalman Filtering for Rigid Body Pose Estimation",

abstract = "In this paper, an SE(3)-constrained extended Kalman filter is proposed in continuous time as well as in a more practical continuous-discrete framework. The filter allows for the state estimation of the 6-DOF rigid body motion while accounting for measurement error statistics and using the rotation matrix instead of an quaternions or other attitude parameterizations. The proposed filter differs from the recently proposed SO(3)-constrained attitude filter in that only a subset of the configuration states are constrained in the present filter. Its effectiveness is demonstrated in a numerical example in which its performance is compared with that of an existing SE(3) estimator from the literature and a Monte Carlo simulation is out carried out to provide credence to the accuracy of the proposed filter.",

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language = "English (US)",

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AU - Butcher, Eric

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N2 - In this paper, an SE(3)-constrained extended Kalman filter is proposed in continuous time as well as in a more practical continuous-discrete framework. The filter allows for the state estimation of the 6-DOF rigid body motion while accounting for measurement error statistics and using the rotation matrix instead of an quaternions or other attitude parameterizations. The proposed filter differs from the recently proposed SO(3)-constrained attitude filter in that only a subset of the configuration states are constrained in the present filter. Its effectiveness is demonstrated in a numerical example in which its performance is compared with that of an existing SE(3) estimator from the literature and a Monte Carlo simulation is out carried out to provide credence to the accuracy of the proposed filter.

AB - In this paper, an SE(3)-constrained extended Kalman filter is proposed in continuous time as well as in a more practical continuous-discrete framework. The filter allows for the state estimation of the 6-DOF rigid body motion while accounting for measurement error statistics and using the rotation matrix instead of an quaternions or other attitude parameterizations. The proposed filter differs from the recently proposed SO(3)-constrained attitude filter in that only a subset of the configuration states are constrained in the present filter. Its effectiveness is demonstrated in a numerical example in which its performance is compared with that of an existing SE(3) estimator from the literature and a Monte Carlo simulation is out carried out to provide credence to the accuracy of the proposed filter.

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KW - Optical sensors

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SE(3)-Constrained Extended Kalman Filtering for Rigid Body Pose Estimation

Abstract

Keywords

ASJC Scopus subject areas

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