Improved Cubature Kalman Filtering on Matrix Lie Groups Based on Intrinsic Numerical Integration Error Calibration with Application to Attitude Estimation

Improved Cubature Kalman Filtering on Matrix Lie Groups Based on Intrinsic Numerical Integration Error Calibration with Application to Attitude Estimation

This paper investigates the numerical integration error calibration problem in Lie group sigma point filters to obtain more accurate estimation results. On the basis of the theoretical framework of the Bayes–Sard quadrature transformation, we first established a Bayesian estimator on matrix Lie grou...

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Bibliographic Details
Main Authors: Huijuan Guo, Yan Zhou, Huiying Liu, Xiaoxiang Hu
Format: Article
Language:English
Published: MDPI AG 2022-04-01
Series:Machines
Subjects:
Bayes–Sard quadrature moment transformation
cubature Kalman filter
Lie groups
attitude estimation
Online Access:https://www.mdpi.com/2075-1702/10/4/265

Internet

https://www.mdpi.com/2075-1702/10/4/265

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