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State Estimation for Systems on Lie Groups with Nonideal Measurements

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Figure 3.1: Proposed observer-predictor methodology.
Figure 3.2: Pure attitude and velocity prediction errors. The error bars show twostandard deviations
Figure 3.3: Pure observer error and total observer-predictor error. The error barsshow two standard deviations.
Figure 4.3: Illustration of the proposed predictor-observer approach.
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Outline

Observer Design and Analysis Constructing Invariant Cost Functions on Lie Groups Summary Problem formulation Observer-predictor approach Total observer-predictor error An input-to-output equivalent model Employed predictor Predictor-observer approach versus original ArduPilot EKF: ro- Stochastic propagation properties of predictors

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