Unscented Kalman filter with stable embedding for simple, accurate, and computationally efficient state estimation of systems on manifolds in Euclidean space

DOI10.1002/RNC.6514MaRDI QIDQ6190232zbMATH OpenOpenAlexFDO

Authors Dong Eui Chang

Publication date 6 February 2024

Published in International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2208.10162

zbMATH Keywords

manifoldsatelliteattitude estimationunscented Kalman filterstable embedding

Mathematics Subject Classification ID

Filtering in stochastic control theory (93E11) Estimation and detection in stochastic control theory (93E10)

Abstract: This paper proposes a simple, accurate and computationally efficient method to apply the ordinary unscented Kalman filter developed in Euclidean space to systems whose dynamics evolve on manifolds.We use the mathematical theory called stable embedding to make a variant of unscented Kalman filter that keeps state estimates in closeproximity to the manifold while exhibiting excellent estimation performance. We confirm the performance of our devised filter by applying it to the satellite system model and comparing the performance with other unscented Kalman filters devised specifically for systems on manifolds. Our devised filter has a low estimation error, keeps the state estimates in close proximity to the manifold as expected, and consumes a minor amount of computation time. Also our devised filter is simple and easy to use because our filter directly employs the off-the-shelf standard unscented Kalman filter devised in Euclidean space without any particular manifold-structure-preserving discretization method or coordinate transformation.

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