论文标题
特殊正交组的非线性随机估计器的系统收敛SO（3）
Systematic Convergence of Nonlinear Stochastic Estimators on the Special Orthogonal Group SO(3)
论文作者
论文摘要
本文介绍了在特殊的正交组\ Mathbb {so} \ left（3 \右）上开发的两个新型的非线性随机态度估计器，其跟踪误差的标准化欧几里得距离会符合预定义的瞬态和稳态特征。跟踪误差仅限于最初从预定的大型集合开始，因此可以保证瞬态性能遵守边界，从几乎任何初始条件起，都可以平稳地降低边界，并平稳地降低到概率上。提出的估计量使用从低成本惯性测量单元获得的测量值以显着的收敛性能产生准确的态度估计。提出了所提出的过滤器的单位定点表示。以连续形式提出的估计量与其离散版本相辅相成，以实施目的。仿真结果说明了提出的估计器对不确定测量值和较大初始化误差的有效性和鲁棒性，无论是连续还是离散形式。 Keywods: Attitude estimates, transient, steady-state error, nonlinear filter, special orthogonal group, SO(3), stochastic system, stochastic differential equations, Ito, Stratonovich, asymptotic stability, Wong-Zakai, inertial measurment unit, IMU, prescribed performance function, Euler Angles, roll, bitch, yaw, color noise, white noise, Nonlinear attitude filter, Nonlinear attitude观察者，方向，非线性随机态度滤波器（3），基于单位quathnion的非线性随机态度滤波器，离散随机态度过滤器。
This paper introduces two novel nonlinear stochastic attitude estimators developed on the Special Orthogonal Group \mathbb{SO}\left(3\right) with the tracking error of the normalized Euclidean distance meeting predefined transient and steady-state characteristics. The tracking error is confined to initially start within a predetermined large set such that the transient performance is guaranteed to obey dynamically reducing boundaries and decrease smoothly and asymptotically to the origin in probability from almost any initial condition. The proposed estimators produce accurate attitude estimates with remarkable convergence properties using measurements obtained from low-cost inertial measurement units. Unit-quaternion representation of the proposed filters are presented. The estimators proposed in continuous form are complemented by their discrete versions for the implementation purposes. The simulation results illustrate the effectiveness and robustness of the proposed estimators against uncertain measurements and large initialization error, whether in continuous or discrete form. Keywods: Attitude estimates, transient, steady-state error, nonlinear filter, special orthogonal group, SO(3), stochastic system, stochastic differential equations, Ito, Stratonovich, asymptotic stability, Wong-Zakai, inertial measurment unit, IMU, prescribed performance function, Euler Angles, roll, bitch, yaw, color noise, white noise, Nonlinear attitude filter, Nonlinear attitude observer, Orientation, nonlinear stochastic attitude filter on SO(3), unit-quaternion based nonlinear stochastic attitude filter, discrete stochastic attitude filter.
