In this section
@article{Ahmed:2012:10.1109/TSP.2012.2198820,
author = {Ahmed, S and Kerrigan, EC and Jaimoukha, IJ},
doi = {10.1109/TSP.2012.2198820},
journal = {IEEE Transactions on Signal Processing},
pages = {3942--3952},
title = {A Semidefinite Relaxation-Based Algorithm for Robust Attitude Estimation},
url = {http://dx.doi.org/10.1109/TSP.2012.2198820},
volume = {60},
year = {2012}
}
TY - JOUR
AB - This paper presents a tractable method for solving a robust attitude estimation problem, based on a weighted least squares approach with nonlinear constraints. Attitude estimation requires information of a few vector quantities, each obtained from both a sensor and a mathematical model. By considering the modeling errors, measurementnoise, sensor biases and offsets as infinity-norm bounded uncertainties, we formulate a robust optimization problem, which is non-convex with nonlinear cost and constraints. The robust min-max problem is approximated with a non-convex minimization problem using an upper bound. A new regularization scheme is also proposed to improve the robust performance. We then use semidefinite relaxation to convert the suboptimal problem with quadratic cost and constraints into a tractable semidefinite program with a linear objective function and linear matrix inequality constraints. We also show how to extract the solution of the suboptimal robust estimation problem from the solution of the semidefinite relaxation. Further, a mathematical proof supported by numerical results is presented stating the gap between the suboptimal problem and its relaxation is zero under a given condition, which is mostly true in real life scenarios. The usefulness of the proposed algorithm in the presence of uncertainties is evaluated with the helpof examples.
AU - Ahmed,S
AU - Kerrigan,EC
AU - Jaimoukha,IJ
DO - 10.1109/TSP.2012.2198820
EP - 3952
PY - 2012///
SN - 1053-587X
SP - 3942
TI - A Semidefinite Relaxation-Based Algorithm for Robust Attitude Estimation
T2 - IEEE Transactions on Signal Processing
UR - http://dx.doi.org/10.1109/TSP.2012.2198820
UR - http://hdl.handle.net/10044/1/10012
VL - 60
ER -