Attitude Representations for Kalman Filtering
作者： F. Landis Markley , Frank H. Bauer
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摘要: The four-component quaternion has the lowest dimensionality possible for a globally nonsingular attitude representation, it represents matrix as homogeneous quadratic function, and its dynamic propagation equation is bilinear in angular velocity. required to obey unit norm constraint, though, so Kalman filters often employ global estimate three-component representation small errors about estimate. We consider these mixed representations both first-order Extended filter second-order filter, well quaternion-norm-preserving propagation.
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