2015
Comparison of an attitude estimator based on the Lagrange-d'Alembert principle with some state-of-the-art filters
ICRA 2015poster
Discrete-time estimation of rigid body attitude and angular velocity without any knowledge of the attitude dynamics model, is treated using the discrete Lagrange-d'Alembert principle. Using body-fixed sensor measurements of direction vectors and angular velocity, a Lagrangian is obtained as the diff…