F A NMSKF Linearizing State for the Geometrical Parameter Estimation

Abstract

The measurement equations of a multiple-contact CF can be generated from the wrench spanning sets and closure equations of a number (l) of elementary CFs. This appendix describes how for each of these elementary contacts (1≤ j≤ l) a state vector x′ _j can be found which linearizes both the wrench spanning set G_j,k(x′ _j ,t_d,k) and the closure equation h_dj,k(x′ _j ,t_d,k) = 0. Section 7.3.2 uses these x′ _j to write quasi-linear contact models for the Nonminimal State Kalman Filter (NMSKF).