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.
Attitude Estimation or Quaternion Estimation?
J of Astronaut Sci
The Journal of the Astronautical Sciences ; 52 , 1-2 ; 221-238
2004-03-01
18 pages
Article (Journal)
Electronic Resource
English
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