Novel results on quaternion modelling and estimation from vector observations

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

15 Scopus citations

Abstract

Building on previous works, this paper brings novel results about the quaternion state- space mathematical modeling, under he assumptions of rate gyro measurements and of vector observations of the attitude. The spectral properties of the Lyapunov differential equation for the quaternion second-order moment are investigated and expressions for its solution are developed. The properties of a four-dimensional quaternion measurement matrix are analyzed. Three different approaches are suggested in order to reduce, without loosing information, the measurement equation down to a two-dimensional equation. The insight gained in this analysis leads to the development of a deterministic quaternion estimator from a batch of two vector observations. The reduced quaternion measurement model yields computationally more efficient quaternion Kalman filters. The relationship between the proposed filters and the celebrated q-method is discussed.

Original languageEnglish
Title of host publicationAIAA Guidance, Navigation, and Control Conference and Exhibit
StatePublished - 1 Dec 2009
EventAIAA Guidance, Navigation, and Control Conference and Exhibit - Chicago, IL, United States
Duration: 10 Aug 200913 Aug 2009

Publication series

NameAIAA Guidance, Navigation, and Control Conference and Exhibit

Conference

ConferenceAIAA Guidance, Navigation, and Control Conference and Exhibit
Country/TerritoryUnited States
CityChicago, IL
Period10/08/0913/08/09

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