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센서 좌표계 사이 자세 오차 추정을 통한 로봇 항법 성능 향상
정다빈,고낙용,유성현,염홍기,문지윤 제어로봇시스템학회 2021 제어로봇시스템학회 국내학술대회 논문집 Vol.2021 No.6
This paper describes improvement of robot navigation performance by estimating and correcting the attitude error between the coordinate systems of sensors. The proposed method uses unit quaternion for attitude representation rather than Euler angles for exact prediction and correction of attitude in Kalman filter application. Simulation results verifies the improvements by the method. In the future, the improvement will be analyzed through field experiments.
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정다빈,고낙용,최현택 제어·로봇·시스템학회 2023 제어·로봇·시스템학회 논문지 Vol.29 No.4
In this study, Lie group theory was used for implementing the unscented Kalman filter (UKF). The UKF was used to track an unmanned surface vehicle (USV) by using radar measurements and the data recorded by the automatic identification system. The attitude of the USV was represented using unit quaternions constituting a Lie group called the 3-sphere space ( ). The increment and difference in the attitudes in constitute a Lie algebra. The correspondence between the Lie group component and the Lie algebra component was used by the exponential and logarithm functions of the UKF. Simulation studies verify that the Lie group based UKF results in better convergence property in Kalman gain, measurement innovation, and covariance, as well as better tracking accuracy than the traditional UKF.
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