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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    Title :

    Attitude Error Representations for Kalman Filtering


    Contributors:

    Publication date :

    2002


    Size :

    15 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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