Novel results on quaternion modelling and estimation from vector observations

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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 publication50th Israel Annual Conference on Aerospace Sciences 2010
PublisherTechnion – Israel Institute of Technology
Pages622-641
Number of pages20
ISBN (Print)9781617380839
StatePublished - 1 Jan 2011
Event50th Israel Annual Conference on Aerospace Sciences 2010 - Tel-Aviv and Haifa, Israel
Duration: 17 Feb 201018 Feb 2010

Publication series

Name50th Israel Annual Conference on Aerospace Sciences 2010
Volume1

Conference

Conference50th Israel Annual Conference on Aerospace Sciences 2010
Country/TerritoryIsrael
CityTel-Aviv and Haifa
Period17/02/1018/02/10

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