Discrete-Time Rigid Body Pose Estimation Based on Lagrange–d’Alembert Principle

The problem of rigid body pose estimation is treated in discrete-time via discrete Lagrange-d'Alembert principle and Lyapunov methods. position attitude the are to be estimated simultaneously with help vision inertial sensors. For pose, continuous-time kinematics equations discretized appropriately. We approach as minimising energies stored errors quantities. With measurements obtained through optical sensors, artificial rotational translation potential energy-like terms have been designed. Similarly, kinetic devised using sensor measurements. This allows us construct a Lagrangian difference energy like terms, which applied obtain an optimal filter. dissipation filter designed discrete-Lyapunov analysis on suitably constructed Morse-Lyapunov function overall scheme proven almost globally asymptotically stable. filtering simulated noisy data verify theoretical properties.