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.


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    Title :

    Attitude Representations for Kalman Filtering


    Contributors:

    Conference:

    AAS Astrodynamics Specialist Conference


    Publication date :

    2001-01-01


    Type of media :

    Preprint


    Type of material :

    No indication


    Language :

    English




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