A novel quaternion Kalman filter

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

doi:10.2514/6.2002-4460

A novel quaternion Kalman filter

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

14 Scopus citations

Abstract

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 language	English
Title of host publication	AIAA Guidance, Navigation, and Control Conference and Exhibit
Publisher	American Institute of Aeronautics and Astronautics Inc.
ISBN (Print)	9781563479786, 9781624101083
DOIs	https://doi.org/10.2514/6.2002-4460
State	Published - 1 Jan 2002
Externally published	Yes
Event	AIAA Guidance, Navigation, and Control Conference and Exhibit 2002 - Monterey, CA, United States Duration: 5 Aug 2002 → 8 Aug 2002

Publication series

Name	AIAA Guidance, Navigation, and Control Conference and Exhibit

Conference

Conference	AIAA Guidance, Navigation, and Control Conference and Exhibit 2002
Country/Territory	United States
City	Monterey, CA
Period	5/08/02 → 8/08/02

ASJC Scopus subject areas

Aerospace Engineering
Control and Systems Engineering
Electrical and Electronic Engineering

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10.2514/6.2002-4460

Cite this

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title = "A novel quaternion Kalman filter",

abstract = "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.",

author = "D. Choukroun and Bar-Itzhack, {I. Y.} and Y. Oshman",

year = "2002",

month = jan,

day = "1",

doi = "10.2514/6.2002-4460",

language = "English",

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series = "AIAA Guidance, Navigation, and Control Conference and Exhibit",

publisher = "American Institute of Aeronautics and Astronautics Inc.",

booktitle = "AIAA Guidance, Navigation, and Control Conference and Exhibit",

note = "AIAA Guidance, Navigation, and Control Conference and Exhibit 2002 ; Conference date: 05-08-2002 Through 08-08-2002",

}

Choukroun, D, Bar-Itzhack, IY & Oshman, Y 2002, A novel quaternion Kalman filter. in AIAA Guidance, Navigation, and Control Conference and Exhibit. AIAA Guidance, Navigation, and Control Conference and Exhibit, American Institute of Aeronautics and Astronautics Inc., AIAA Guidance, Navigation, and Control Conference and Exhibit 2002, Monterey, CA, United States, 5/08/02. https://doi.org/10.2514/6.2002-4460

A novel quaternion Kalman filter. / Choukroun, D.; Bar-Itzhack, I. Y.; Oshman, Y.
AIAA Guidance, Navigation, and Control Conference and Exhibit. American Institute of Aeronautics and Astronautics Inc., 2002. (AIAA Guidance, Navigation, and Control Conference and Exhibit).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A novel quaternion Kalman filter

AU - Choukroun, D.

AU - Bar-Itzhack, I. Y.

AU - Oshman, Y.

PY - 2002/1/1

Y1 - 2002/1/1

N2 - 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.

AB - 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.

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DO - 10.2514/6.2002-4460

M3 - Conference contribution

AN - SCOPUS:85088755470

SN - 9781563479786

SN - 9781624101083

T3 - AIAA Guidance, Navigation, and Control Conference and Exhibit

BT - AIAA Guidance, Navigation, and Control Conference and Exhibit

PB - American Institute of Aeronautics and Astronautics Inc.

T2 - AIAA Guidance, Navigation, and Control Conference and Exhibit 2002

Y2 - 5 August 2002 through 8 August 2002

ER -

A novel quaternion Kalman filter

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