  Two novel nonlinear pose (i.e, attitude and position) filters developed
directly on the Special Euclidean Group SE(3)able to guarantee prescribed
characteristics of transient and steady-state performance are proposed. The
position error and normalized Euclidean distance of attitude error are trapped
to arbitrarily start within a given large set and converge systematically and
asymptotically to the origin from almost any initial condition. The transient
error is guaranteed not to exceed a prescribed value while the steady-state
error is bounded by a predefined small value. The first pose filter operates
based on a set of vectorial measurements coupled with a group of velocity
vectors and requires preliminary pose reconstruction. The second filter, on the
contrary, is able to perform its function using a set of vectorial measurements
and a group of velocity vectors directly. Both proposed filters provide
reasonable pose estimates with superior convergence properties while being able
to use measurements obtained from low-cost inertial measurement, landmark
measurement, and velocity measurement units. Simulation results demonstrate
effectiveness and robustness of the proposed filters considering large error in
initialization and high level of uncertainties in velocity vectors as well as
in the set of vector measurements. Attitude, position, pose estimation,
nonlinear observer, estimate, special orthogonal group, special Euclidean
group, SO(3), SE(3), prescribed performance function, transient, steady-state
error, transformed error, Landmark, feature measurement, PPF, IMU, Lie algebra,
Lie group, projection, Gyroscope, Inertial measurement units, rigid body, micro
electromechanical systems, sensor, IMUs, MEMS, Roll, Pitch, Yaw, UAVs, QUAV,
SVD, Fixed, Moving, Vehicles, Robot, Robotic System, Spacecraft, submarine,
Underwater vehicle.
