A quaternion-based unscented Kalman filter for orientation tracking

@article{Kraft2003AQU,
  title={A quaternion-based unscented Kalman filter for orientation tracking},
  author={Edgar Kraft},
  journal={Sixth International Conference of Information Fusion, 2003. Proceedings of the},
  year={2003},
  volume={1},
  pages={47-54}
}
  • Edgar Kraft
  • Published in
    Sixth International…
    2003
  • Computer Science
  • This paper describes a Kalman filter for the real-time estimation of a rigid body orientation from mea- surements of acceleration, angular velocity and magnetic field strength. A quaternion representation of the orienta- tion is computationally effective and avoids problems with singularities. The nonlinear relationship between estimated Orientation and expected measurement prevent the usage of a classical Kalman filter: This problem is solved by an Un- scented Kalman filter which allows… CONTINUE READING

    Create an AI-powered research feed to stay up to date with new papers like this posted to ArXiv

    Citations

    Publications citing this paper.
    SHOWING 1-10 OF 146 CITATIONS

    Relative Vessel Motion Tracking using Sensor Fusion, Aruco Markers, and MRU Sensors

    VIEW 9 EXCERPTS
    CITES METHODS & BACKGROUND
    HIGHLY INFLUENCED

    Nonlinear State-Space Modeling of Human Motion Using 2-D Marker Observations

    VIEW 4 EXCERPTS
    CITES BACKGROUND & METHODS
    HIGHLY INFLUENCED

    >Computer Assisted Neurosurgery

    VIEW 4 EXCERPTS
    CITES METHODS & BACKGROUND
    HIGHLY INFLUENCED

    Adaptive sensor data fusion in motion capture

    VIEW 8 EXCERPTS
    CITES BACKGROUND & METHODS
    HIGHLY INFLUENCED

    A ground-based vision system for UAV tracking

    VIEW 9 EXCERPTS
    CITES METHODS & BACKGROUND
    HIGHLY INFLUENCED

    Wearable Sensing for Solid Biomechanics: A Review

    VIEW 2 EXCERPTS
    CITES METHODS
    HIGHLY INFLUENCED

    FILTER CITATIONS BY YEAR

    2004
    2020

    CITATION STATISTICS

    • 11 Highly Influenced Citations

    • Averaged 9 Citations per year from 2017 through 2019

    References

    Publications referenced by this paper.
    SHOWING 1-5 OF 5 REFERENCES

    Quaternions

    • E. Dam, M. Koch, M. Lillholm
    • Interpolation and Animation , Technical Report DIKU-TR- 98/5, Department of Computer Science, Univ. Copenhagen, Denmark
    • 1998
    VIEW 3 EXCERPTS
    HIGHLY INFLUENTIAL

    Comment on ”A New Method for the Nonlinear Transformation of Means and Covariances in Filters and Estimators

    • T. Levebvre, H. Bruyninckx, J. De Schutter
    • IEEE Transactions on Automatic Control, Vol. 47, pp. 1406 - 1408
    • 2002

    R

    • E. A. Wan
    • van der Merwe, The Unscented Kalman Filter, in Kalman Filtering and Neural Networks, pp. 221-280, Wiley Publishing
    • 2001

    the mean of geometric features - Application to the mean rotation

    • X. Pennec, Computing
    • Institut National de Recherche en Informatique et en Automatique (IN- RIA), Le Chesnay,
    • 1998
    VIEW 1 EXCERPT