Nonlinear Stochastic Attitude Filters on the Special Orthogonal Group 3: Ito and Stratonovich

@article{Hashim2019NonlinearSA,
  title={Nonlinear Stochastic Attitude Filters on the Special Orthogonal Group 3: Ito and Stratonovich},
  author={Hashim A. Hashim and Lyndon J. Brown and Kenneth A. McIsaac},
  journal={IEEE Transactions on Systems, Man, and Cybernetics: Systems},
  year={2019},
  volume={49},
  pages={1853-1865}
}
This paper formulates the attitude filtering problem as a nonlinear stochastic filter problem evolved directly on the Special Orthogonal Group 3 (<inline-formula> <tex-math notation="LaTeX">${\mathbb {SO}}(3)$ </tex-math></inline-formula>). One of the traditional potential functions for nonlinear deterministic complimentary filters is studied and examined against angular velocity measurements corrupted with noise. This paper demonstrates that the careful selection of the attitude potential… 

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