Pose estimation using linearized rotations and quaternion algebra

被引：52

作者：

Barfoot, Timothy ^{[1
]}

Forbes, James R. ^{[1
]}

Furgale, Paul T. ^{[1
]}

机构：

[1] Univ Toronto, Inst Aerosp Studies, N York, ON M3H 5T6, Canada

来源：

ACTA ASTRONAUTICA | 2011年 / 68卷 / 1-2期

基金：

加拿大自然科学与工程研究理事会;

关键词：

Pose estimation; Linearized rotations; Quaternion algebra; ATTITUDE ESTIMATION;

D O I：

10.1016/j.actaastro.2010.06.049

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

In this paper we revisit the topic of how to formulate error terms for estimation problems that involve rotational state variables. We present a first-principles linearization approach that yields multiplicative error terms for unit-length quaternion representations of rotations, as well as for canonical rotation matrices. Quaternion algebra is employed throughout our derivations. We show the utility of our approach through two examples: (i) linearizing a sun sensor measurement error term, and (ii) weighted-least-squares point-cloud alignment. (C) 2010 Elsevier Ltd. All rights reserved.

引用

页码：101 / 112

页数：12

共 31 条

[1] [Anonymous], 43 PATR AIRF BAS
[2] [Anonymous], 1936, P NATL I SCI INDIA, DOI DOI 10.1007/S13171-019-00164-5
[3] [Anonymous], 1989, THESIS CARNEGIE MELL
[4] [Anonymous], 2000, LNCS, DOI DOI 10.1007/3-540-44480-7
[5] ATTITUDE DETERMINATION FROM VECTOR OBSERVATIONS - QUATERNION ESTIMATION
BARITZHACK, IY
OSHMAN, Y
[J]. IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, 1985, 21 (01) : 128 - 136
[6] QUATERNION KINEMATIC AND DYNAMIC DIFFERENTIAL-EQUATIONS
CHOU, JCK
[J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1992, 8 (01): : 53 - 64
[7] Survey of nonlinear attitude estimation methods
Crassidis, John L.
Markley, F. Landis
Cheng, Yang
[J]. JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 2007, 30 (01) : 12 - 28
[8] Ell T. A., 2007, SYSTEMS LINEAR QUATE
[9] Hamilton William Rowan, 1866, Elements of quaternions
[10] HARDY AS, 1891, ELEMENTS QUATERNIONS

← 1 2 3 4 →