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Attitude Error Representations for Kalman Filtering (2002)

Markley, F. Landis ; Bauer, Frank H.

In: CASI

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Publication Date: 2013-08-29

Description: The quaternion has the lowest dimensionality possible for a globally nonsingular attitude representation. The quaternion must obey a unit norm constraint, though, which has led to the development of an extended Kalman filter using a quaternion for the global attitude estimate and a three-component representation for attitude errors. We consider various attitude error representations for this Multiplicative Extended Kalman Filter and its second-order extension.

Keywords: Cybernetics, Artificial Intelligence and Robotics

Format: application/pdf

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