Compensation of measurement noise and bias in geometric attitude estimation

Mitikiri, Yujendra; Mohseni, Kamran

doi:10.1109/icra.2019.8793504

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Simulation Results2

Nature Of Measurements Of Reference Vector and Angular Velocity1

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2021

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Cited by 1 publication

(3 citation statements)

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“…By using equation (23) to interpolate between the two solutions obtained from theorem 7, we obtain the solution to Wahba's problem. The interpolation parameter x is chosen to be 2 2 /(1 2 + 2 2 ) = 0.8, as the rms noise of the two vector measurements have a ratio of 2.…”

Section: Simulation Resultsmentioning

confidence: 99%

“…Matlab simulations of full attitude estimation using two vector measurements. The left figure shows the results of applying Davenport's q-method and an appropriate geometric filter using (23). The figure on the right shows that the two solutions are equal upto machine precision.…”

Section: Simulation Resultsmentioning

confidence: 99%

“…Deterministic errors in this measurement are also assumed to be compensated for. Compensation of a timevarying gyroscopic bias has been addressed by the authors in [23]. The angular velocity is not of unit magnitude, in general.…”

Section: Nature Of Measurements Of Reference Vector and Angular Velocitymentioning

confidence: 99%

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