An analytical solution for the complete sensor network attitude estimation problem

Abstract : 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.
Type de document :
Article dans une revue
Signal Processing, Elsevier, 2013, 93 (4), pp.652-660. 〈10.1016/j.sigpro.2012.08.025〉
Liste complète des métadonnées

https://hal.archives-ouvertes.fr/hal-00732179
Contributeur : Olivier Michel <>
Soumis le : vendredi 14 septembre 2012 - 10:39:43
Dernière modification le : vendredi 1 juillet 2016 - 15:52:00

Identifiants

Collections

Citation

Mikael Carmona, Olivier Michel, Jean-Louis Lacoume, Nathalie Sprynski, Barbara Nicolas. An analytical solution for the complete sensor network attitude estimation problem. Signal Processing, Elsevier, 2013, 93 (4), pp.652-660. 〈10.1016/j.sigpro.2012.08.025〉. 〈hal-00732179〉

Partager

Métriques

Consultations de la notice

303