Kalman Filtering for Attitude Estimation with Quaternions and Concepts from Manifold Theory

Inexpensive Cubesat Attitude Estimation Using Quaternions and Unscented Kalman Filtering

This paper describes a quaternion implementation of an Unscented Kalman Filter for attitude estimation on CubeSats using measurements of a sun vector, a magnetic field vector and angular velocity. For faster convergence of the attitude estimate, a SVD-method solving Wahba’s problem has been proposed, which provides an initial attitude estimate. Using unit quaternions provides a singularity free...

Kalman Filter for Spinning Spacecraft Attitude Estimation

This paper presents a Kalman filter using a seven-component attitude state vector comprising the angular momentum components in a n inertial reference frame, the angular momentum components in the body frame, and a rotation angle. The relatively slow variation of these parameters makes this parameterization advantageous for spinning spacecraft attitude estimation. The filter accounts for the co...

Indirect Kalman Filter for 3D Attitude Estimation

Open Solution for Humanoid Attitude Estimation through Sensory Integration and Extended Kalman Filtering

In this paper an Extended Kalman Filter (EKF) is used in order to estimate the real state of a humanoid robot (HRP-2 robot in our case study) using the combination of the information coming from the encoders (kinematics) and from the Inertial Measurement Unit (IMU). The integration of the kinematic information into the Kalman filtering process allows a good estimation of the attitude and reduce...

Quaternions and Attitude Representation

• Rotation matrices: This is the most general form for representing attitude of a body, also called special orthogonal group SO(3) group, is the space of 3×3 matrices satisfying some constraints. Since it uses nine numbers to represent three angular degrees of freedom, there are six independent constraints on the matrix elements. Each column(and row) is unit vector, which gives us 3 constraints...