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Á¦¸ñ Çѱ¹·Îº¿ÇÐȸ ´º½º·¹ÅÍ 9¿ùÈ£ [ 2019. Vol. 3 ]
ÀÛ¼ºÀÚ °ü¸®ÀÚ µî·ÏÀÏ 2019-09-30
À̸ÞÀÏ kros@kros.org
 
Çѱ¹·Îº¿ÇÐȸ ´º½º·¹ÅÍ 9¿ùÈ£ [ 2019. Vol. 3 ]
< QuaternionÀ» »ç¿ëÇÑ ÀÚ¼¼ ÃßÁ¤°ú Invariant EKF > Á¶¼±´ëÇб³ °í³«¿ë ±³¼ö
  1. quaternionÀ» »ç¿ëÇÏ¿© vehicleÀÇ ÀÚ¼¼³ª ȸÀüÀ» ³ªÅ¸³»°í, quaternionÀ» state variable ¶Ç´Â measurement variable·Î »ç¿ëÇÏ¿© ÃßÁ¤¿¡ ÀÌ¿ëÇϴµ¥ À¯¿ëÇÑ ³»¿ëÀÌ Á¤¸®µÈ ÀÚ·á
    • [1] Sola, Joan. "Quaternion kinematics for the error-state Kalman filter." arXiv preprint arXiv:1711.02508 (2017).
  2. Manifold ¶Ç´Â SO3(Special Orthogonal Group 3)¿¡ ¼ÓÇÏ´Â ÀÚ¼¼ ¶Ç´Â ȸÀü¿¡ °üÇÑ Lie Theory¸¦ ·Îº¿ °øÇÐÀÚÀÇ ÀÔÀå¿¡¼­ ÃÖ¼ÒÈ­ÇÏ¿© ¼³¸íÇÑ ÀÚ·á. ¼öÇÐÀû ¿ë¾îÀÌÁö¸¸ ³»¿ëÀº ÀÚ¼¼ ¶Ç´Â ȸÀü¿¡ °üÇØ ±âÁ¸¿¡ ¾Ë°í ÀÖ´ø ³»¿ëÀ» Lie Theory °üÁ¡¿¡¼­ ¼³¸íÇÔ. Invariant Kalman filter¸¦ ÀÌÇØÇϱâ À§ÇÑ ÃÖ¼ÒÇÑÀÇ Lie Theory¸¦ ¸ð¾ÆµÒ. À§ [1]ÀÇ ÀڷḦ °øºÎÇÑ ÈÄ Âü°íÇÏ¸é ´õ ½±°Ô ÀÌÇØµÊ.
    • [2] Solà, Joan, Jeremie Deray, and Dinesh Atchuthan. "A micro Lie theory for state estimation in robotics." arXiv preprint arXiv:1812.01537 (2018).
  3. quaternionÀ» »ç¿ëÇÏ¿© ÀÚ¼¼³ª ȸÀüÀ» Ç¥ÇöÇÏ´Â °æ¿ì, quaternionÀÇ Æò±ÕÀ» ±¸ÇÏ¿©¾ß ÇÒ Çʿ䰡 »ý±â´Âµ¥, ÀÌ °æ¿ì »ç¿ëÇÒ ¼ö ÀÖ´Â ¹æ¹ýÀÌ ¼³¸íµÈ ÀÚ·á.
    • [3] Kraft, Edgar. "A quaternion-based unscented Kalman filter for orientation tracking." Proceedings of the Sixth International Conference of Information Fusion. Vol. 1. 2003.
    • [4] Markley, F. Landis, et al. "Averaging quaternions." Journal of Guidance, Control, and Dynamics 30.4 (2007): 1193-1197.
  4. Invariant Kalman filter¸¦ Á¾ÇÕÀûÀ¸·Î Á¤¸®ÇÏ¿© ¼³¸íÇÑ ÀÚ·á. À§ÀÇ [1]°ú [2]¿¡ ´ëÇÑ ÀÌÇØ¸¦ ¹ÙÅÁÀ¸·Î Invariant Kalman filter¸¦ Á¾ÇÕÀûÀ¸·Î Á¤¸®ÇÑ ÀÚ·á. ±âÁ¸¿¡ Silvere BonnabelÀ» Áß½ÉÀ¸·Î ÀÌ·ç¾îÁø Invariant Kalman filter °ü·Ã ¿¬±¸ ³»¿ëÀ» ÅëÇÕÇÏ¿© Á¤¸®ÇÔ.
    • [5] Barrau, Axel, and Silvere Bonnabel. "Invariant kalman filtering." Annual Review of Control, Robotics, and Autonomous Systems 1 (2018): 237-257.
    • [6] Barrau, Axel, and Silvère Bonnabel. "The invariant extended Kalman filter as a stable observer." IEEE Transactions on Automatic Control 62.4 (2016): 1797-1812.
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  • IEEE International Conference on Advanced Robotics & Mechatronics (ICARM 2019),
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