An analytical solution for the complete sensor network attitude estimation problem
| Autor: | Barbara Nicolas, Mikael Carmona, Jean-Louis Lacoume, Olivier Michel, Nathalie Sprynski |
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| Přispěvatelé: | Commissariat à l'énergie atomique et aux énergies alternatives - Laboratoire d'Electronique et de Technologie de l'Information (CEA-LETI), Direction de Recherche Technologique (CEA) (DRT (CEA)), Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA), GIPSA - Communication Information and Complex Systems (GIPSA-CICS), Département Images et Signal (GIPSA-DIS), Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Stendhal - Grenoble 3-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS), GIPSA - Signal Images Physique (GIPSA-SIGMAPHY), Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Grenoble Images Parole Signal Automatique (GIPSA-lab), Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS)-Université Stendhal - Grenoble 3-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centre National de la Recherche Scientifique (CNRS) |
| Jazyk: | angličtina |
| Rok vydání: | 2013 |
| Předmět: |
Axis system
Mathematical optimization Brooks–Iyengar algorithm 02 engineering and technology 01 natural sciences Attitude estimation [INFO.INFO-TS]Computer Science [cs]/Signal and Image Processing Inertial measurement unit 0202 electrical engineering electronic engineering information engineering 0101 mathematics Electrical and Electronic Engineering Quaternion Time complexity inertial sensors Mathematics quaternionic methods 010102 general mathematics Physics::Physics Education 020206 networking & telecommunications Computer Science::Computers and Society Control and Systems Engineering Signal Processing Linear algebra Pairwise comparison Computer Vision and Pattern Recognition Wireless sensor network [SPI.SIGNAL]Engineering Sciences [physics]/Signal and Image processing Software |
| Zdroj: | Signal Processing Signal Processing, 2013, 93 (4), pp.652-660. ⟨10.1016/j.sigpro.2012.08.025⟩ Signal Processing, Elsevier, 2013, 93 (4), pp.652-660. ⟨10.1016/j.sigpro.2012.08.025⟩ |
| ISSN: | 0165-1684 1872-7557 |
| DOI: | 10.1016/j.sigpro.2012.08.025⟩ |
| Popis: | International audience; Sensor network attitude estimation problem consists in retrieving the attitude of each multi-axis sensor of a distributed network knowing some relative attitudes between pairs of sensors. The attitude of a sensor is its orientation in an absolute axis system. We present an analytical method for solving the sensor network attitude problem using quaternion formalism which allows to apply tools from linear algebra. The proposed algorithm allows to solve the problem when all of the pairwise relative attitudes are known. A complete characterization of the algorithm is established: spatial complexity, time complexity and robustness. The performance of our algorithm is illustrated by numerical simulations and by real experiments. |
| Databáze: | OpenAIRE |
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