Attitude Error Representations for Kalman Filtering | Zendy

F. Landis Markley | Zendy

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Attitude Error Representations for Kalman Filtering

Author(s) -

F. Landis Markley

Publication year - 2003

Publication title -

journal of guidance control and dynamics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 1.573

H-Index - 143

eISSN - 1533-3884

pISSN - 0731-5090

DOI - 10.2514/2.5048

Subject(s) - kalman filter , computer science , control theory (sociology) , extended kalman filter , fast kalman filter , computer vision , artificial intelligence , control (management)

The quaternion has the lowest dimensionality possible for a globally nonsingular attitude representation. The quaternionmustobeyaunitnormconstraint,though,whichhasledtothedevelopmentofanextendedKalmane lter usingaquaternionfortheglobalattitudeestimateandathree-componentrepresentationforattitudeerrors.Various attitude error representations are considered for this multiplicative extended Kalman e lter, which incorporates a nonlinear, norm preserving quaternion reset operation. Second-order bias corrections are computed in this framework.

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