The four-component quaternion has the lowest dimensionality possible for a globally nonsingular attitude representation, it represents the attitude matrix as a homogeneous quadratic function, and its dynamic propagation equation is bilinear in the quaternion and the angular velocity. The quaternion is required to obey a unit norm constraint, though, so Kalman filters often employ a quaternion for the global attitude estimate and a three-component representation for small errors about the estimate. We consider these mixed attitude representations for both a first-order Extended Kalman filter and a second-order filter, as well for quaternion-norm-preserving attitude propagation.
Attitude Representations for Kalman Filtering
AAS Astrodynamics Specialist Conference
2001-01-01
Preprint
No indication
English
Attitude Error Representations for Kalman Filtering
Online Contents | 2003
|Attitude Error Representations for Kalman Filtering
AIAA | 2003
|Attitude Error Representations for Kalman Filtering
NTRS | 2002
|Attitude Error Representations for Kalman Filtering
NTIS | 2002
|Attitude Representations for Kalman Filtering (AAS 01-309)
British Library Conference Proceedings | 2001
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