A novel quaternion Kalman filter

D. Choukroun, I. Y. Bar-Itzhack, Y. Oshman

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

15 Scopus citations


This paper presents a novel Kalman filter for estimating the attitude-quaternion from vector measurements. Employing a special manipulation of the measurement equation results in a linear pseudo-measurement equation whose error is state dependent. Because the quaternion kinematics equation is linear, the combination of the two yields a linear Kalman filter. In order to improve the convergence property of the filter, brute-force normalization of the estimated quaternion is added to the filter, which requires adding compensation to the estimation error covari-ance matrix. An adaptive version of the filter is also developed to handle modeling errors of the dynamic system noise statistics. Monte-Carlo simulations are carried out which demonstrate the efficiency of both versions of the filter.

Original languageEnglish
Title of host publicationAIAA Guidance, Navigation, and Control Conference and Exhibit
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
ISBN (Print)9781563479786, 9781624101083
StatePublished - 1 Jan 2002
Externally publishedYes
EventAIAA Guidance, Navigation, and Control Conference and Exhibit 2002 - Monterey, CA, United States
Duration: 5 Aug 20028 Aug 2002

Publication series

NameAIAA Guidance, Navigation, and Control Conference and Exhibit


ConferenceAIAA Guidance, Navigation, and Control Conference and Exhibit 2002
Country/TerritoryUnited States
CityMonterey, CA

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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