Learning-based Attitude Estimation with Noisy Measurements and Unknown Gyro Bias

Parham Oveissi; Mohammad Mirtaba; Ankit Goel

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arXiv · 2401.13092

Learning-based Attitude Estimation with Noisy Measurements and Unknown Gyro Bias

Parham Oveissi·Mohammad Mirtaba·Ankit Goel

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Abstract

This paper introduces a learning-based, data-driven attitude estimator, called the retrospective cost attitude estimator (RCAE), for the SO(3) attitude representation. RCAE is motivated by the multiplicative extended Kalman filter (MEKF). However, unlike MEKF, which requires computing a Jacobian to compute the correction signal, RCAC uses retrospective cost optimization that depends only on the measured data. Moreover, due to the structure of the correction signal, RCAE does not require explicit estimation of gyro bias. The performance of RCAE is verified and compared with MEKF through both numerical simulations and physical experiments.

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BibTeX RIS

Parham Oveissi, Mohammad Mirtaba, Ankit Goel. 2024-01-23. Learning-based Attitude Estimation with Noisy Measurements and Unknown Gyro Bias. https://arxiv.org/abs/2401.13092

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