Sensor alignment using rotors in Geometric Algebra


This paper uses rotors in Geometric Algebra to formulate a stable adaptive identifier on the group of rigid body rotations. This identifier is intended to estimate the alignment offsets between independent sensors. The approach provides a straightforward geometric interpretation based on first-order rotor kinematics. Lyapunov theory is used to prove the stability of the identifier, and numerical simulations illustrate its behavior with and without measurement noise.

In proceedings of IEEE International Conference on Robotics and Automation. Shanghai, China.