Norm-Constrained Kalman Filtering
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The problem of estimating the state vector of a dynamical system from vector measurements when it is known that the state vector satisfies norm equality constraints is considered. The case of a linear dynamical system with linear measurements subject to a norm equality constraint is discussed with a review of existing solutions. The norm constraint introduces a nonlinearity in the system for which a new estimator structure is derived by minimizing a constrained cost function. It is shown that the constrained estimate is equivalent to the brute-force normalization of the unconstrained estimate. The obtained solution is extended to nonlinear measurement models and applied to the spacecraft attitude filtering problem.
JOURNAL OF GUIDANCE CONTROL AND DYNAMICS
author list (cited authors)
Zanetti, R., Majji, M., Bishop, R. H., & Mortari, D.
complete list of authors
Zanetti, Renato||Majji, Manoranjan||Bishop, Robert H||Mortari, Daniele