Attitude Error Representations for Kalman Filtering

By F. Markley. 2003

709 citations recorded by the source corpus.

Subfields: Aerospace Engineering, Artificial Intelligence, Oceanography

View Paper: https://www.semanticscholar.org/paper/a18416bed11a4df7a1aaa390320906ad930226fb

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Citations in the corpus

Sigma-point Kalman filtering for integrated GPS and inertial navigation (2005, background): “This is due to the reset of the attitude error to zero after the previous update, which is used to move information from one part of the estimate to another part [12].”
Using Inertial Sensors for Position and Orientation Estimation (2017, neutral): “This EKF implementation is sometimes referred to as a multiplicative EKF [28, 93].”
Covariance Correction Step for Kalman Filtering with an Attitude (2017, methodology): “The approach of [12] has inspired many other works, and is widely used in practise: see for example [20–24].”
On Kalman Filtering With Nonlinear Equality Constraints (2007, methodology): “• SCKF: Apply the smoothly constrained Kalman filter [9] for tight constraints using .”
Estimating Three-Dimensional Orientation of Human Body Parts by Inertial/Magnetic Sensing (2011, background): “The most principled way to preserve the unit-norm property of the estimated quaternion is to create an algorithm where the error between the true and estimated quaternions is itself a quaternion and is multiplied (in the sense of quaternion multiplication) with the a priori quaternion estimate to yi”
Attitude Estimation Employing Common Frame Error Representations (2015, methodology): “Alternate derivations describe q̂ as a “reference attitude” from which an unconstrained, minimally parameterized attitude error is drawn [8,15].”
Constraint in attitude estimation part II: Unconstrained estimation (2003, background): “(14)Markley [10] has pointed out that except for the Euler angles even the second-order scalar measurement sensitivity matrices for any infinitesimal three-dimensional representation of the attitude are the same as that for .”
Quaternion attitude estimation for miniature air vehicles using a multiplicative extended Kalman filter (2008, methodology): “Many different approaches have been used to solve Wahba’s problem as applied to spacecraft attitude estimation [9], [11], [12], and recently a quaternion-based EKF approach was demonstrated for manned aircraft [13].”