Attitude Error Representations for Kalman Filtering

  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. 
Highly Influential
This paper has highly influenced 28 other papers. REVIEW HIGHLY INFLUENTIAL CITATIONS
Highly Cited
This paper has 263 citations. REVIEW CITATIONS

From This Paper

Figures, tables, and topics from this paper.


Publications citing this paper.
Showing 1-10 of 185 extracted citations

264 Citations

Citations per Year
Semantic Scholar estimates that this publication has 264 citations based on the available data.

See our FAQ for additional information.


Publications referenced by this paper.
Showing 1-9 of 9 references

Spacecraft Attitude Determination Using the Bortz Equation,

  • M. E. Pittelkau
  • AAS Paper 01-310,
  • 2001

ed., Applied Optimal Estimation

  • A. Gelb
  • 1974

Attitude Determination by Kalman

  • J. L. Farrell
  • Filtering," Automatica,
  • 1970

Similar Papers

Loading similar papers…