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Paper TuA208.5

Stanway, Michael Jordan (Woods Hole Oceanographic Institution), Kinsey, James (Woods Hole Oceanographic Institution)

Sensor alignment using rotors in Geometric Algebra

Scheduled for presentation during the Regular Sessions "Calibration and Identification II" (TuA208), Tuesday, May 10, 2011, 11:05−11:20, Room 5C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Calibration and Identification, Kinematics, Autonomous Navigation

Abstract

This paper uses rotors in Geometric Algebra to formulate a stable adaptive identifier on the group of rigid body rotations. This identifier is intended to estimate the alignment offsets between independent sensors. The approach provides a straightforward geometric interpretation based on first-order rotor kinematics. Lyapunov theory is used to prove the stability of the identifier, and numerical simulations illustrate its behavior with and without measurement noise.

 

 

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