The absence of a globally nonsingular three-parameter representation of the rotation group forces attitude Kalman filters to estimate either a singular or a redundant attitude representation. We compare two filtering strategies using simplified kinematics and measurement models. Our favored strategy estimates a three-parameter representation of attitude deviations from a reference attitude specified by a higher-dimensional nonsingular parameterization. The deviations from the reference are assumed to be small enough to avoid any singularity or discontinuity of the three-dimensional parameterization. We point out some disadvantages of the other strategy, which directly estimates the four-component quaternion representation.


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    Title :

    Attitude Estimation or Quaternion Estimation?


    Additional title:

    J of Astronaut Sci


    Contributors:

    Published in:

    Publication date :

    2004-03-01


    Size :

    18 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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