Minimum-energy filtering on the unit circle using velocity measurements with bias and vectorial state measurements

Mohammad Zamani, Minh Duc Hua, Jochen Trumpf, Robert Mahony

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    2 Citations (Scopus)

    Abstract

    We consider minimum-energy filtering of a system defined on the unit circle when the angular velocity measurements are contaminated with deterministic measurement error and bias. We propose a second order approximate minimum-energy filter for this system using vectorial measurements. This work extends prior work in two aspects; Firstly, by including a model for slowly time varying angular velocity measurement bias, we estimate and reject the bias in order to estimate the state of the system more accurately. Secondly, rather than using full state measurements we use vector measurements to derive the filter. Both of these two innovations make the filter more practical in real world applications. In simulations we show that the proposed filter is globally convergent and robust to different levels of measurement error and bias.

    Original languageEnglish
    Title of host publication2012 2nd Australian Control Conference, AUCC 2012
    PublisherIEEE Computer Society
    Pages283-288
    Number of pages6
    ISBN (Print)9781922107633
    Publication statusPublished - 2012
    Event2nd Australian Control Conference, AUCC 2012 - Sydney, NSW, Australia
    Duration: 15 Nov 201216 Nov 2012

    Publication series

    Name2012 2nd Australian Control Conference, AUCC 2012

    Conference

    Conference2nd Australian Control Conference, AUCC 2012
    Country/TerritoryAustralia
    CitySydney, NSW
    Period15/11/1216/11/12

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