Browsing University of Waterloo by Author "Koldychev, Mikhail"

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Local observers on linear Lie groups with linear estimation error dynamics

Koldychev, Mikhail; Nielsen, Christopher (IEEE, 2014-03-06)

This technical note proposes local exponential observers for systems on linear Lie groups. We study two classes of systems. In the first class, the full state of the system evolves on a linear Lie group and is available ...
Observers on linear Lie groups with linear estimation error dynamics

Koldychev, Mikhail (University of Waterloo, 2012-09-20)

A major motivation for Lie group observers is their application as sensor fusion algorithms for an inertial measurement unit which can be used to estimate the orientation of a rigid-body. In the first part of this thesis ...