Bayesian Attitude Estimation With the Matrix Fisher Distribution on SO(3)

DOI10.1109/TAC.2018.2797162MaRDI QIDQ4559497zbMATH OpenOpenAlexFDO

Authors Tae-Young Lee

Publication date 4 December 2018

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1710.03746

Mathematics Subject Classification ID

Probability measures on groups or semigroups, Fourier transforms, factorization (60B15) Bayesian inference (62F15) Directional data; spatial statistics (62H11) Estimation in multivariate analysis (62H12) Estimation and detection in stochastic control theory (93E10)

Abstract: This paper focuses on a stochastic formulation of Bayesian attitude estimation on the special orthogonal group. In particular, an exponential probability density model for random matrices, referred to as the matrix Fisher distribution is used to represent the uncertainties of attitude estimates and measurements in a global fashion. Various stochastic properties of the matrix Fisher distribution are derived on the special orthogonal group, and based on these, two types of intrinsic frameworks for Bayesian attitude estimation are constructed. These avoid complexities or singularities of the attitude estimators developed in terms of quaternions. The proposed approaches are particularly useful to deal with large estimation errors or large uncertainties for complex maneuvers to obtain accurate estimates of the attitude.

Cited in

(8)

• Procrustes analysis for high-dimensional data
• Propagation of chaos and moderate interaction for a piecewise deterministic system of geometrically enriched particles
• Bulk topological states in a new collective dynamics model
• Multisymplectic unscented Kalman filter for geometrically exact beams
• Reduced dynamics and geometric optimal control of nonequilibrium thermodynamics: Gaussian case
• Variational unscented Kalman filter on matrix Lie groups
• Attitude estimation via matrix Fisher distributions on SO(3) using non-unit vector measurements
• Higher-order central moments of matrix Fisher distribution on \(\mathrm{SO}(3)\)

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