اشترك بالحزمة الذهبية واحصل على وصول غير محدود شمرا أكاديميا
تسجيل مستخدم جديدParticle Filtering for Attitude Estimation Using a Minimal Local-Error Representation: A Revisit
91
0
0.0
(
0
)
تأليف
Lubin Chang
اسأل ChatGPT حول البحث
ﻻ يوجد ملخص باللغة العربية
In this note, we have revisited the previously published paper Particle Filtering for Attitude Estimation Using a Minimal Local-Error Representation. In the revisit, we point out that the quaternion particle filtering based on the local/global representation structure has not made full use of the advantage of the particle filtering in terms of accuracy and robustness. Moreover, a normalized quaternion determining procedure based on the minimum mean-square error approach has been investigated into the quaternion-based particle filtering to obtain the fiducial quaternion for the transformation between quaternion and modified Rodrigues parameter. The modification investigated in this note is expected to make the quaternion particle filtering based on the local/global representation structure more strict.
قيم البحث
اقرأ أيضاً
Inertial measurement units are widely used in different fields to estimate the attitude. Many algorithms have been proposed to improve estimation performance. However, most of them still suffer from 1) inaccurate initial estimation, 2) inaccurate ini
tial filter gain, and 3) non-Gaussian process and/or measurement noise. In this paper, we leverage reinforcement learning to compensate for the classical extended Kalman filter estimation, i.e., to learn the filter gain from the sensor measurements. We also analyse the convergence of the estimate error. The effectiveness of the proposed algorithm is validated on both simulated data and real data.
In this note, the attitude and inertial sensors drift biases estimation for Strapdown inertial navigation system is investigated. A semi-analytic method is proposed, which contains two interlaced solution procedures. Specifically, the attitude encodi
ng the body frame changes and gyroscopes drift biases are estimated through attitude estimation while the attitude encoding the constant value at the very start and accelerometers drift biases are determined through online optimization.
This paper proposes a learning method for denoising gyroscopes of Inertial Measurement Units (IMUs) using ground truth data, and estimating in real time the orientation (attitude) of a robot in dead reckoning. The obtained algorithm outperforms the s
tate-of-the-art on the (unseen) test sequences. The obtained performances are achieved thanks to a well-chosen model, a proper loss function for orientation increments, and through the identification of key points when training with high-frequency inertial data. Our approach builds upon a neural network based on dilated convolutions, without requiring any recurrent neural network. We demonstrate how efficient our strategy is for 3D attitude estimation on the EuRoC and TUM-VI datasets. Interestingly, we observe our dead reckoning algorithm manages to beat top-ranked visual-inertial odometry systems in terms of attitude estimation although it does not use vision sensors. We believe this paper offers new perspectives for visual-inertial localization and constitutes a step toward more efficient learning methods involving IMUs. Our open-source implementation is available at https://github.com/mbrossar/denoise-imu-gyro.
In this article we introduce the use of recently developed min/max-plus techniques in order to solve the optimal attitude estimation problem in filtering for nonlinear systems on the special orthogonal (SO(3)) group. This work helps obtain computatio
nally efficient methods for the synthesis of deterministic filters for nonlinear systems -- i.e. optimal filters which estimate the state using a related optimal control problem. The technique indicated herein is validated using a set of optimal attitude estimation example problems on SO(3).
We consider linear network error correction (LNEC) coding when errors may occur on edges of a communication network of which the topology is known. In this paper, we first revisit and explore the framework of LNEC coding, and then unify two well-know
n LNEC coding approaches. Furthermore, by developing a graph-theoretic approach to the framework of LNEC coding, we obtain a significantly enhanced characterization of the error correction capability of LNEC codes in terms of the minimum distances at the sink nodes. In LNEC coding, the minimum required field size for the existence of LNEC codes, in particular LNEC maximum distance separable (MDS) codes which are a type of most important optimal codes, is an open problem not only of theoretical interest but also of practical importance, because it is closely related to the implementation of the coding scheme in terms of computational complexity and storage requirement. By applying the graph-theoretic approach, we obtain an improved upper bound on the minimum required field size. The improvement over the existing results is in general significant. The improved upper bound, which is graph-theoretic, depends only on the network topology and requirement of the error correction capability but not on a specific code construction. However, this bound is not given in an explicit form. We thus develop an efficient algorithm that can compute the bound in linear time. In developing the upper bound and the efficient algorithm for computing this bound, various graph-theoretic concepts are introduced. These concepts appear to be of fundamental interest in graph theory and they may have further applications in graph theory and beyond.
سجل دخول لتتمكن من نشر تعليقات
التعليقات
جاري جلب التعليقات
سجل دخول لتتمكن من متابعة معايير البحث التي قمت باختيارها
