Iterated multiplicative extended kalman filter for attitude estimation using vector observations

@article{Chang2016IteratedME,
  title={Iterated multiplicative extended kalman filter for attitude estimation using vector observations},
  author={Lubin Chang and Baiqing Hu and Kailong Li},
  journal={IEEE Transactions on Aerospace and Electronic Systems},
  year={2016},
  volume={52},
  pages={2053-2060}
}
This paper proposes an iterated multiplicative extended Kalman filter (IMEKF) for attitude estimation using vector observations. In each iteration, the vector-measurement model is relinearized based on a new reference quaternion refined by the attitude-error estimate. An implicit reset operation on the attitude error is performed in each iteration to obtain the refined quaternion.With only a little additional computation burden, the IMEKF can much improve on the performance of the MEKF. For… CONTINUE READING

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