Low-power consumption of orientation estimation using low-cost inertial sensors are crucial for all the applications which resource constrained critically. This paper presents a novel Lightweight quaternion-based Extended Kalman Filter (LEKF) magnetic, angular rate and gravity (MARG) sensors. In this filter, with employing quaternion kinematic equation as process model, we derived simplified me...

This article presents a particle filter for pose estimation using unit dual quaternion kinematics. The eight-parameter is used global representation of the pose, whereas six parameters modified Rodrigues (MRPs) are local in state-space model. MRPs enable estimates mean and covariance to be calculated from particles without violating algebraic constraint quaternion. For verification comparison w...

This paper proposesa new class of unit quaternion curves in SO(3). A general method is developed that transforms a curve in R3 (defined as a weighted sum of basis functions) into its unit quaternion analogue in SO(3). Applying the method to well-known spline curves (such as Bézier, Hermite, and B-spline curves), we are able to construct various unit quaternion curves which share many important ...

With a focus on investigations in the area of overactuated spacecraft, a new high-performance robust three-axis finite-time attitude control approach, which is organized in connection with the quaternion based estimation scheme is proposed in the present research with respect to state-of-the-art. The approach proposed here is realized based upon double closed loops to deal with the angular rate...

Quaternion-valued signals along with quaternion Fourier transforms (QFT) provide an effective framework for vector-valued signal and image processing. However, the sampling theory of quaternion valued signals has not been well developed. In this paper, we present the generalized sampling expansions associated with QFT by using the generalized translation and convolution. We show that a σ-bandli...

Principal component analysis (PCA)-based approach for user heading estimation using a smartphone in the pocket suffers from an inaccurate estimation of device attitude, which plays a central role in both obtaining acceleration signals in the horizontal plane and the ultimate global walking direction extraction. To solve this problem, we propose a novel heading estimation approach based on two u...

Attitude quaternion [1] is the attitude parameterization of choice for spacecraft attitude estimation for several reasons: 1) it is free of singularities, 2) the attitude matrix is quadratic in the quaternion components, and 3) the kinematics equations is bilinear and an analytic solution exists for the propagation. However, the components of the attitude quaternion are not independent of each ...

Motivated by the need for accurate frequency information, a novel algorithm for estimating the fundamental frequency and its rate of change in three-phase power systems is developed. This is achieved through two stages of Kalman filtering. In the first stage a quaternion extended Kalman filter, which provides a unified framework for joint modeling of voltage measurements from all the phases, is...

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...