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.


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    Titel :

    Attitude Error Representations for Kalman Filtering


    Beteiligte:
    F. L. Markley (Autor:in)

    Erscheinungsdatum :

    2002


    Format / Umfang :

    15 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




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    Markley, F.L. | Online Contents | 2003



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    Markley, F. Landis / Bauer, Frank H. | NTRS | 2002


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