An analytical solution for the complete sensor network attitude estimation problem

Authors:
Mikael Carmona;Olivier Michel;Jean Louis Lacoume;Nathalie Sprynski;Barbara Nicolas
Affiliations:
CEA-LETI, MINATEC-Campus, 38054 Grenoble, France;Gipsa-lab, BP 46, F-38402 Grenoble Cedex, France;Gipsa-lab, BP 46, F-38402 Grenoble Cedex, France;CEA-LETI, MINATEC-Campus, 38054 Grenoble, France;Gipsa-lab, BP 46, F-38402 Grenoble Cedex, France
Venue:
Signal Processing
Year:
2013

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Abstract

Sensor network attitude estimation problem consists in retrieving the attitude of each multi-axis sensor of a distributed network knowing some relative attitudes between pairs of sensors. The attitude of a sensor is its orientation in an absolute axis system. We present an analytical method for solving the sensor network attitude problem using quaternion formalism which allows to apply tools from linear algebra. The proposed algorithm allows to solve the problem when all of the pairwise relative attitudes are known. A complete characterization of the algorithm is established: spatial complexity, time complexity and robustness. The performance of our algorithm is illustrated by numerical simulations and by real experiments.