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On the distance to optimality of the geometric approximate minimum-energy attitude filter
2014 American Control Conference
This paper studies the near-optimality of the recent geometric approximate minimum-energy (GAME) filter, an attitude filter for estimation on the rotation group SO(3). The GAME filter approximates the minimum-energy (optimal) filtering solution by truncating the derivatives of the associated value function of order higher than 2. In this work, this approximation is pinned down in terms of an analytic expression for a bound on the difference between the cost attained by the GAME filter and thedoi:10.1109/acc.2014.6858915 dblp:conf/amcc/ZamaniTM14 fatcat:3xfvziylfzgzfaopoqf6sys5cy