The Fast Attitude Estimation Method Based on Quaternion and Generalized Multivectors

Aiming at the problem of low output accuracy and large attitude measurement error of a micro-electromechanical systems (MEMS) inertial sensor, a fast attitude estimation method based on quaternion and generalized multivectors is proposed. In the algorithm, the attitude estimation method based on the deterministic vector with only one nonzero element is analyzed. Then, by constructing a new deterministic vector, the attitude updating equations are analyzed for the case that the deterministic vector contains two nonzero elements and three nonzero elements. In this article, all forms of the deterministic vectors are analyzed, and the attitude updating equations are analyzed according to the different deterministic vectors. In view of the existence of measurement noise and measurement interference in the observations of the deterministic vectors, this algorithm provides a compensation method. The experimental results show that the method has high accuracy and efficiency.