论文标题
基于拉格朗日 - 阿尔默特原理的离散时间刚性姿势估算
Discrete-time Rigid Body Pose Estimation based on Lagrange-d'Alembert principle
论文作者
论文摘要
通过离散的lagrange-d'Almermt原理和离散的Lyapunov方法，在离散时间处理刚体姿势估计的问题。刚体的位置和态度应在视觉和惯性传感器的帮助下同时估算。对于姿势的离散时间估计，可以适当地将连续的时间刚体运动运动方程式适当地进行离散化。我们将姿势估计问题最小化，以最大程度地减少估计数量误差中存储的能量。借助通过光传感器获得的测量，已经设计了人造旋转和翻译势能式术语。同样，使用惯性传感器测量设计了人工旋转和翻译动能术语。这使我们能够构建一个离散时间的拉格朗日作为动力学和势能（如术语）的差异，该术语的差异将应用于Lagrange-d'Alembert原理以获得最佳的姿势估计过滤器。最佳过滤器中的耗散项是通过适当构建的Morse-Lyapunov函数的离散 - 裂解分析设计的，并且总体方案被证明在全球渐近稳定。使用嘈杂的传感器数据模拟过滤方案以验证理论属性。
The problem of rigid body pose estimation is treated in discrete-time via discrete Lagrange-d'Alembert principle and discrete Lyapunov methods. The position and attitude of the rigid body are to be estimated simultaneously with the help of vision and inertial sensors. For the discrete-time estimation of pose, the continuous-time rigid body kinematics equations are discretized appropriately. We approach the pose estimation problem as minimising the energies stored in the errors of estimated quantities. With the help of measurements obtained through optical sensors, artificial rotational and translation potential energy-like terms have been designed. Similarly, artificial rotational and translation kinetic energy-like terms have been devised using inertial sensor measurements. This allows us to construct a discrete-time Lagrangian as the difference of the kinetic and potential energy like terms, to which a Lagrange-d'Alembert principle is applied to obtain an optimal pose estimation filter. The dissipation terms in the optimal filter are designed through discrete-Lyapunov analysis on a suitably constructed Morse-Lyapunov function and the overall scheme is proven to be almost globally asymptotically stable. The filtering scheme is simulated using noisy sensor data to verify the theoretical properties.
