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Propagation of uncertainty in rigid body attitude flows
2007 46th IEEE Conference on Decision and Control
Motivated by attitude control and attitude estimation problems for a rigid body, computational methods are proposed to propagate uncertainties in the angular velocity and the attitude. Uncertainties in the angular velocity and attitude are described in terms of ellipsoidal sets that are propagated through this nonlinear attitude flow. Computational methods are proposed, one method based on a local linearization of the attitude flow and two methods based on propagation of a small (unscented)doi:10.1109/cdc.2007.4434145 dblp:conf/cdc/LeeCSLM07 fatcat:ra5f3y2uabfapmiotc75qpnfea