English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Tools annual

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools monthly

Global: Zendy Plus monthly

Presents the access of premium content as premium feature

Premium Content

Global: Zendy Plus annual

Global: Zendy Free Plan

The rigid body attitude estimation problem is treated using the discrete-timeLagrange-d'Alembert principle. Three different possibilities are considered forthe multi-rate relation between angular velocity measurements and directionvector measurements for attitude: 1) integer relation between sampling rates,2) time-varying sampling rates, 3) non-integer relation between sampling rates.In all cases, it is assumed that angular velocity measurements are sampled at ahigher rate compared to the inertial vectors. The attitude determinationproblem from two or more vector measurements in the body-fixed frame isformulated as Wahba's problem. At instants when direction vector measurementsare absent, a discrete-time model for attitude kinematics is used to propagatepast measurements. A discrete-time Lagrangian is constructed as the differencebetween a kinetic energy-like term that is quadratic in the angular velocityestimation error and an artificial potential energy-like term obtained fromWahba's cost function. An additional dissipation term is introduced and thediscrete-time Lagrange-d'Alembert principle is applied to the Lagrangian withthis dissipation to obtain an optimal filtering scheme. A discrete-timeLyapunov analysis is carried out to show that the optimal filtering scheme isasymptotically stable in the absence of measurement noise and the domain ofconvergence is almost global. For a realistic evaluation of the scheme,numerical experiments are conducted with inputs corrupted by boundedmeasurement noise. These numerical simulations exhibit convergence of theestimated states to a bounded neighborhood of the actual states.

Asymptotically Stable Optimal Multi-rate Rigid Body Attitude Estimation based on Lagrange-d'Alembert Principle