On the Observability of Attitude With Single Direction Measurements

• 成果类型: Article
• 署名作者: Wang, Weixin; Gamagedara, Kanishke; Lee, Taeyoung
• 署名单位: George Washington University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2022.3179214
• 发表日期: 2022
• 页码: 4986-4993
• 关键词: Observability; Angular velocity; Velocity measurement; uncertainty; Position measurement; kinematics; Rotation measurement; Attitude observability; estimation; Filtering; Stochastic systems

摘要

The attitude of a rigid body evolves on the three-dimensional (3-D) special orthogonal group, and it is often estimated by measuring reference directions, such as gravity or magnetic field, using onboard sensors. As a single direction measurement provides a 2-D constraint, it has been widely accepted that at least two nonparallel reference directions should be measured, or the reference direction should change over time, to determine the attitude completely. This article uncovers an intriguing fact that the attitude can actually be estimated by using multiple measurements of a single, fixed reference direction, provided that the angular velocity and the direction measurements are resolved in appropriate frames, respectively. More specifically, after recognizing that the attitude uncertainties propagated over the left-trivialized stochastic kinematics are distinct from those over the right-trivialized one, stochastic attitude observability with single direction measurements is formulated by an information theoretic analysis. These are illustrated by experiments.