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In this note, we have revisited the previously published paper "ParticleFiltering for Attitude Estimation Using a Minimal Local-Error Representation".In the revisit, we point out that the quaternion particle filtering based onthe local/global representation structure has not made full use of theadvantage of the particle filtering in terms of accuracy and robustness.Moreover, a normalized quaternion determining procedure based on the minimummean-square error approach has been investigated into the quaternion-basedparticle filtering to obtain the fiducial quaternion for the transformationbetween quaternion and modified Rodrigues parameter. The modificationinvestigated in this note is expected to make the quaternion particle filteringbased on the local/global representation structure more strict.

Particle Filtering for Attitude Estimation Using a Minimal Local-Error Representation: A Revisit