Invariant Kalman Filtering with Noise-Free Pseudo-Measurements
Résumé
In this paper, we focus on developing an Invariant Extended Kalman Filter (IEKF) for extended pose estimation for a noisy system with state equality constraints. We treat those constraints as noise-free pseudomeasurements. To this aim, we provide a formula for the Kalman gain in the limit of noise-free measurements and rank-deficient covariance matrix. We relate the constraints to group-theoretic properties and study the behavior of the IEKF in the presence of such noise-free measurements. We illustrate this perspective on the estimation of the motion of the load of an overhead crane, when a wireless inertial measurement unit is mounted on the hook.
Domaines
Sciences de l'ingénieur [physics]
Origine : Fichiers produits par l'(les) auteur(s)