Global Symplectic Uncertainty Propagation on SO(3)

Details Global Symplectic Uncertainty Propagation on SO(3) Global Symplectic Uncertainty Propagation on SO(3)

2008-03-11

arxiv.org/abs/0803.1515v1

Mathematics

Dynamical Systems

6 pages, 2 figures

Scientific paper

This paper introduces a global uncertainty propagation scheme for rigid body dynamics, through a combination of numerical parametric uncertainty techniques, noncommutative harmonic analysis, and geometric numerical integration. This method is distinguished from prior approaches, as it allows one to consider probability densities that are global, and are not supported on only a single coordinate chart on the manifold. The use of Lie group variational integrators, that are symplectic and stay on the Lie group, as the underlying numerical propagator ensures that the advected probability densities respect the geometric properties of uncertainty propagation in Hamiltonian systems, which arise as consequence of the Gromov nonsqueezing theorem from symplectic geometry. We also describe how the global uncertainty propagation scheme can be applied to the problem of global attitude estimation.

Affiliated with

Also associated with

No associations

Rating

Global Symplectic Uncertainty Propagation on SO(3) does not yet have a rating. At this time, there are no reviews or comments for this scientific paper.

If you have personal experience with Global Symplectic Uncertainty Propagation on SO(3), we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Global Symplectic Uncertainty Propagation on SO(3) will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFWR-SCP-O-285566