An EKF for Lie Groups with Application to Crane Load Dynamics
An extended Kalman filter (EKF) for systems with configuration given by matrix Lie groups is presented. The error dynamics are given by the logarithm of the Lie group and are based on the kinematic differential equation of the logarithm, which is given in terms of the Jacobian of the Lie group. The...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Norwegian Society of Automatic Control
2019-04-01
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| Series: | Modeling, Identification and Control |
| Subjects: | |
| Online Access: | http://www.mic-journal.no/PDF/2019/MIC-2019-2-3.pdf |