An EKF for Lie Groups with Application to Crane Load Dynamics
An EKF for Lie Groups with Application to Crane Load Dynamics
About this item
Full title
Author / Creator
Publisher
Kristiansand: Norsk Forening for Automatisering (NFA)
Journal title
Language
English
Formats
Publication information
Publisher
Kristiansand: Norsk Forening for Automatisering (NFA)
Subjects
More information
Scope and Contents
Contents
An extended Kalman filter (EKF) for systems with configuration given by matrix Lie groups is presented. The error dynamics are given by the logarithm of the Lie group and are based on the kinematic differential equation of the logarithm, which is given in terms of the Jacobian of the Lie group. The probability distribution is also described in term...
Alternative Titles
Full title
An EKF for Lie Groups with Application to Crane Load Dynamics
Authors, Artists and Contributors
Author / Creator
Identifiers
Primary Identifiers
Record Identifier
TN_cdi_doaj_primary_oai_doaj_org_article_2d23f23df26246d4b1beba886604f03d
Permalink
https://devfeature-collection.sl.nsw.gov.au/record/TN_cdi_doaj_primary_oai_doaj_org_article_2d23f23df26246d4b1beba886604f03d
Other Identifiers
ISSN
0332-7353
E-ISSN
1890-1328
DOI
10.4173/mic.2019.2.3
