Rigid motion reconstruction by functional iteration

摘要

Rigid motion computation or estimation is a cornerstone in numerous fields. Attitude computation can be achieved by integrating the angular velocity measured by gyroscopes, the accuracy of which is crucially important for the dead-reckoning inertial navigation. The state-of-the-art attitude algorithms have unexceptionally relied on the simplified differential equation of some kind of kinematic vector, such as the rotation vector, to obtain the attitude. This paper proposes a Functional Iteration technique using the Rodrigues vector (the so-called RodFIter method) to analytically reconstruct the attitude from gyroscope measurements. The RodFIter method is provably exact in reconstructing the incremental attitude as long as the angular velocity is exact. Notably, the Rodrigues vector is analytically obtained and can be used to update the attitude over the considered time interval. The proposed method gives birth to a novel attitude algorithm scheme that can be naturally extended to the general rigid motion computation. It is extensively evaluated under the attitude coning motion and compares favorably in accuracy with the mainstream attitude algorithm.