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Robust M-Type Error-State Kalman Filters for Attitude Estimation

Belles Ferreres, Andrea and Medina, Daniel and Chauchat, Paul and Labsir, Samy and Vilà-Valls, Jordi (2023) Robust M-Type Error-State Kalman Filters for Attitude Estimation. In: 31st European Signal Processing Conference, EUSIPCO 2023. EUSIPCO 2023, 2023-09-04 - 2023-09-08, Helsinki, Finland. doi: 10.23919/EUSIPCO58844.2023.10289871. ISBN 978-946459360-0. ISSN 2219-5491.

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Abstract

State estimation techniques appear in a plethora of engineering fields. Both standard Kalman filter (KF) and its nonlinear extensions, as well as particle filters, consider a known system model (i.e., functions and noise statistics), an assumption which may not hold in practice. A problem of particular interest is how to deal with outliers in the observation model. A possible solution is to resort to the framework of robust statistics, where a robust score function is used to mitigate the impact of outlying measurements, leading to robust M-type KFs. In this contribution, some of these robust filtering results are extended to the case where states may live on a manifold (unit norm quaternion), and propose robust iterated error-state M-type KF solutions. An illustrative example is provided to show the performance of the proposed filter and support the discussion.

Item URL in elib:https://elib.dlr.de/198485/
Document Type:Conference or Workshop Item (Lecture)
Title:Robust M-Type Error-State Kalman Filters for Attitude Estimation
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Belles Ferreres, AndreaUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Medina, DanielUNSPECIFIEDhttps://orcid.org/0000-0002-1586-3269UNSPECIFIED
Chauchat, PaulUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Labsir, SamyUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Vilà-Valls, JordiUNSPECIFIEDhttps://orcid.org/0000-0001-7858-4171UNSPECIFIED
Date:10 March 2023
Journal or Publication Title:31st European Signal Processing Conference, EUSIPCO 2023
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI:10.23919/EUSIPCO58844.2023.10289871
Editors:
EditorsEmailEditor's ORCID iDORCID Put Code
Belles Ferreres, AndreaUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Medina, DanielUNSPECIFIEDhttps://orcid.org/0000-0002-1586-3269UNSPECIFIED
Chauchat, PaulUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Labsir, SamyUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Vilà-Valls, JordiUNSPECIFIEDhttps://orcid.org/0000-0001-7858-4171UNSPECIFIED
ISSN:2219-5491
ISBN:978-946459360-0
Status:Published
Keywords:attitude estimation, known system model, M-type KF solutions, noise statistics, nonlinear extensions, observation model, particle filters, robust filtering results, robust iterated error-state, robust M-type error-state Kalman filters, robust M-type KFs, robust score function, robust statistics, standard Kalman filter, state estimation techniques
Event Title:EUSIPCO 2023
Event Location:Helsinki, Finland
Event Type:international Conference
Event Start Date:4 September 2023
Event End Date:8 September 2023
Organizer:European Association for Signal Processing (EURASIP)
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Transport System
DLR - Research area:Transport
DLR - Program:V VS - Verkehrssystem
DLR - Research theme (Project):V - FuturePorts, R - Project HIGAIN [KNQ]
Location: Neustrelitz
Institutes and Institutions:Institute of Communication and Navigation > Nautical Systems
Deposited By: Belles Ferreres, Andrea
Deposited On:29 Nov 2023 18:33
Last Modified:24 Apr 2024 20:58

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