An extended Kalman filter for quaternion-based attitude estimation
The filter represents rotations using quaternions rather than Euler angles, which eliminates the long-standing problem of singularities associated with those angles. A process model for rigid body angular motions and angular rate measurements is defined. The process model converts angular rates into...
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| Language: | en_US |
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Monterey, California. Naval Postgraduate School
2012
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| Online Access: | http://handle.dtic.mil/100.2/ADA384973 http://hdl.handle.net/10945/9411 |