基于$\mathbb{S}\mathbb{O}(3)$的连续时间旋转运动离散观测器设计
Design of a Discrete Time Observer for the Continuous Time Rotation Kinematics on $\mathbb{S}\mathbb{O}(3)$
摘要：
本文提出了一种基于旋转群$\mathbb{S}\mathbb{O}(3)$的连续时间刚体运动学的离散时间观测器。这项工作借鉴了两个研究学校-一个是张基于反馈积分器的系统演变的流形，另一个是Mahony，他提出了一个观察员的态度动态。离散时间观测器是基于修改动态的Mahony观测器的姿态动力学，其中修改的矢量场，使数值积分的基础上欧几里德计划。
英文摘要：
This report proposes a discrete time observer for the continuous time rigid body kinematics on the rotation group $\mathbb{S}\mathbb{O}(3)$. The work draws on two research schools - one by Chang based on feedback integrators for systems evolving on manifolds,and the other by Mahony, who proposed an observer for attitude dynamics. The discrete time observer is based on the modified dynamics of the Mahony observer for attitude dynamics, where the modification of the vector field enables numerical integration based on Euclidean schemes.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
