Equivariant Filters are Equivariant

نویسندگان

چکیده

Observers for systems with Lie group symmetries are an active area of research that is seeing significant impact in a number practical domains, including aerospace, robotics, and mechatronics. This paper builds on the theory recently proposed Equivariant Filter (EqF), which general observer design homogeneous spaces takes advantage to yield performance advantages. It shown EqF error dynamics invariant transformation input signal equivariant as parametrised vector field. The main theorem shows two EqF's different choices local coordinates origins equivalent noise modelling identical performance. In other words, intrinsic system equations symmetry. verified simulation 2D robot localisation problem, also how ability choose origin can advantages by mitigating floating point precision errors.

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ژورنال

عنوان ژورنال: IFAC-PapersOnLine

سال: 2023

ISSN: ['2405-8963', '2405-8971']

DOI: https://doi.org/10.1016/j.ifacol.2023.02.057