This paper deals with orientation estimation using miniature inertial/magnetic sensor comprised of a tri-axial rate gyro, a tri-axial accelerometer, and a tri-axial magnetometer. Particularly, a novel quaternion-based pseudo Kalman filter (KF) is proposed by modifying an indirect KF, in order to maximize the computational efficiency and implementation simplicity. In the proposed pseudo KF, time...

an involution or anti-involution is a self-inverse linear mapping. in this paper, we will present two real quaternion matrices, one corresponding to a real quaternion involution and one corresponding to a real quaternion anti-involution. moreover, properties and geometrical meanings of these matrices will be given as reflections in r^3.

This paper contains a critical comparison of estimators minimizing Wahba’s loss function. Some new results are presented for the QUaternion ESTimator (QUEST) and EStimators of the Optimal Quaternion (ESOQ and ESOQ-2) to avoid the computational burden of sequential rotations in these algorithms. None of these methods is as robust in principle as Davenport’s q-method or the Singular Value Decompo...

This paper addresses the state-estimation problem for nonlinear systems in a context where prior knowledge, in addition to the model and the measurement data, is available in the form of a nonlinear equality constraint. Then three suboptimal algorithms based on the unscented Kalman filter (UKF) are developed, namely, the equality-constrained unscented Kalman filter (ECUKF), the projected unscen...

Sensor-based gesture interaction technology has been widely adopted in consumer electronics. Nevertheless, bias, drift, and noise existing in sensor signals are difficult to eliminate, and accurate movement trajectory information is still needed to achieve flexible interaction application. This paper presents micro-electromechanical system (MEMS) motion sensor information processing algorithms ...

A novel attitude measuring sensor is presented to be used on agile satellites without any angular field of view restrictions. The sensor is based on low-cost, medium resolution attitude vector measurements, obtained from geomagnetic detectors (magnetometers) and coarse sun sensors (solar cells). The vector measurements chosen, have an unrestricted field of view and a reasonably high response ba...

In this paper, we investigate the problem of estimating the instantaneous position, orientation, velocity, and angular velocity of a rigid body during its free flight. Precisely speaking, the flight is under the influences of gravity, air drag, and the Magnus force only. Two cameras are synchronized to take images of the flying object. Feature points are extracted from each frame as observables...

After explaining the details of an efficient technique, developed in early 1980s, to plot digital images of quaternion filled-in Julia sets, later considerations on it will introduce a new modification for displaying such sets with no interior too. A step by step description via pseudo-C++ is given. The reader is assumed to be familiar with advanced programming and quaternion calculus.

The aim of this paper is to present a novel approach for the design and implementation of an onboard nonlinear state estimation system for an autonomous aerial vehicle. The tasks of such a system include collection of measurement data from different navigation sensors, and estimation of all the quantities describing the system’s state of motion based on the system dynamics and the measurement d...