Widely linear estimation for multisensor quaternion systems with mixed uncertainties in the observations |
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| Authors: | Jesús Navarro-Moreno Rosa María Fernández-Alcalá José Domingo Jiménez-López Juan Carlos Ruiz-Molina |
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| Institution: | Department of Statistics and Operations Research, University of Jaén, Jaén 23071, Spain |
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| Abstract: | The optimal widely linear state estimation problem for quaternion systems with multiple sensors and mixed uncertainties in the observations is solved in a unified framework. For that, we devise a unified model to describe the mixed uncertainties of sensor delays, packet dropouts and uncertain observations by using three Bernoulli distributed quaternion random processes. The proposed model is valid for linear discrete-time quaternion stochastic systems measured by multiple sensors and it allows us to provide filtering, prediction and smoothing algorithms for estimating the quaternion state through a widely linear processing. Simulation results are employed to show the superior performance of such algorithms in comparison to standard widely linear methods when mixed uncertainties are present in the observations. |
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| Keywords: | Corresponding author |
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