Observers on linear Lie groups with linear estimation error dynamics
A major motivation for Lie group observers is their application as sensor fusion algorithms for an inertial measurement unit which can be used to estimate the orientation of a rigid-body. In the first part of this thesis we propose several types of nonlinear, deterministic, locally exponentially co...
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| Language: | en |
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2012
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| Online Access: | http://hdl.handle.net/10012/7001 |