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In this article we introduce the use of recently developed min/max-plustechniques in order to solve the optimal attitude estimation problem infiltering for nonlinear systems on the special orthogonal (SO(3)) group. Thiswork helps obtain computationally efficient methods for the synthesis ofdeterministic filters for nonlinear systems -- i.e. optimal filters whichestimate the state using a related optimal control problem. The techniqueindicated herein is validated using a set of optimal attitude estimationexample problems on SO(3).

Deterministic filtering and dimensionality reduction for optimal attitude estimation on SO(3)