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

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2024_09_ICMLA_Parham_RCAC_AttitudeEstimation.pdf (922.82 KB)

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https://orcid.org/0000-0001-9326-0319
 https://orcid.org/0000-0002-4146-6275

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conference papers and proceedings
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This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible.

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Abstract

This paper introduces a learning-based, datadriven 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.