Attitude Estimation or Quaternion Estimation?
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...
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| Veröffentlicht in: | The Journal of the astronautical sciences 2004-01, Vol.52 (1-2), p.221-238 |
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| container_title | The Journal of the astronautical sciences |
| container_volume | 52 |
| creator | Markley, F. Landis |
| description | 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. |
| doi_str_mv | 10.1007/BF03546430 |
| format | Article |
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| ispartof | The Journal of the astronautical sciences, 2004-01, Vol.52 (1-2), p.221-238 |
| issn | 0021-9142 2195-0571 |
| language | eng |
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| source | SpringerNature Journals |
| subjects | Attitudes Kalman filters Kinematics Parameter estimation Parameterization Quaternions Representations |
| title | Attitude Estimation or Quaternion Estimation? |
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