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Communication Dans Un Congrès Année : 2024

Two-Frame Groups with Scalings

Résumé

We consider problems pertaining to the navigation and localization of mobile mechanical systems such as robots or crafts. We focus on the recently introduced theory of two-frame systems, within the field of invariant Kalman filtering for state estimation of dynamical systems. We show that we can build a two-frame group (TFG) structure not only using rotations as its basic building block, as has been done so far, but also rotations and scalings. This then makes the TFG a generalization of the group of similarilty transformations Sim(d). This allows for new examples to fit into the theory of two-frame systems. Namely, we consider the localization of a car equipped with odometry based on wheels having unknown radius, and inertial navigation where the accelerometers are affected by an unknown scale factor.
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Dates et versions

hal-04691569 , version 1 (08-09-2024)

Identifiants

  • HAL Id : hal-04691569 , version 1

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Paul Chauchat, Axel Barrau, Silvère Bonnabel. Two-Frame Groups with Scalings. 8th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control, Jun 2024, Besancon, France. ⟨hal-04691569⟩
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