کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
5006440 | 1461477 | 2017 | 25 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Analytical solution to and error analysis of the quaternion based similarity transformation considering measurement errors in both frames
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
کنترل و سیستم های مهندسی
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چکیده انگلیسی
The similarity transformation between two coordinate frames, is widely adopted in science and engineering. The transformation parameters are estimated using coordinate determinations of a set of common points in both frames. The quaternion is employed to represent the rotation transformation; and a 3Â ÃÂ 1 error vector is defined to represent the quaternion estimation error. Coordinate determinations in both frames are assumed noisy. An analytical least-squares solution is derived in which the quaternion estimate is the eigenvector of a 4Â ÃÂ 4 symmetric matrix corresponding to its largest eigenvalue. It is found that as long as a practically meaningful quaternion estimate exists, the largest eigenvalue must be single. Error analysis of this solution is investigated in detail in which the error analysis of the largest eigenvalue-eigenvector pair plays a pivotal role. Monte Carlo experiments are conducted and the results validate the consistency of the developed error analysis.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Measurement - Volume 110, November 2017, Pages 1-10
Journal: Measurement - Volume 110, November 2017, Pages 1-10
نویسندگان
Guobin Chang, Tianhe Xu, Qianxin Wang, Ming Liu,