Deterministic filtering for optimal attitude estimation on SO(3) using max-plus methods

In this article we introduce the use of recently developed min/max-plus techniques in order to solve the optimal attitude estimation problem in filtering for nonlinear systems on the special orthogonal (SO(3)) group. This work helps synthesize deterministic filters for nonlinear systems - i.e. optimal filters which estimate the system state using a related optimal control problem. The technique indicated herein is validated using a set of optimal attitude estimation example problems on SO(3).

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