In this article, an $SE(3)$-constrained extended Kalman filter is proposed in continuous time as well as in a more practical continuous-discrete framework. The filter allows for the state estimation of the 6-DOF rigid body motion while accounting for measurement error statistics and using the rotation matrix instead of quaternions or other attitude parameterizations. The proposed filter differs from the recently proposed $SO(3)$-constrained attitude filter in that only a subset of the configuration states are constrained in the present filter. Its effectiveness is demonstrated in a numerical example in which its performance is compared with that of an existing $SE(3)$ estimator from the literature and a Monte Carlo simulation is carried out to provide credence to the accuracy of the proposed filter.


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    Titel :

    SE(3)-Constrained Extended Kalman Filtering for Rigid Body Pose Estimation


    Beteiligte:
    Mathavaraj, S. (Autor:in) / Butcher, Eric A. (Autor:in)


    Erscheinungsdatum :

    01.06.2022


    Format / Umfang :

    1052577 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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