Attitude Error Representations for Kalman Filtering

@inproceedings{LandisAttitudeER,
  title={Attitude Error Representations for Kalman Filtering},
  author={Florian Landis}
}
The quaternion has the lowest dimensionality possible for a globally nonsingular attitude representation. The quaternion must obey a unit norm constraint, though, which has led to the development of an extended Kalman filter using a quaternion for the global attitude estimate and a three-component representation for attitude errors. We consider various attitude error representations for this Multiplicative Extended Kalman Filter and its second-order extension. 
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