Particle Filter with Stable Embedding for State Estimation of the Rigid Body Attitude System on the Set of Unit Quaternions
Hee-Deok Jang,Jae-Hyeon Park,Dong Eui Chang,Hee-Deok Jang,Jae-Hyeon Park,Dong Eui Chang
This paper presents a novel method for state estimation of rigid body attitude system evolving on the manifold S3, which is crucial in robotics and drone applications. We introduce a particle filter with stable embedding that extends the system into Euclidean space while ensuring stability of the manifold. Our particle filter with stable embedding enables accurate state estimation by maintaining e...
