Novel quaternion Kalman filter

@article{Choukroun2006NovelQK,
  title={Novel quaternion Kalman filter},
  author={Daniel Choukroun and I. Y. Bar-Itzhack and Yaakov Oshman},
  journal={IEEE Transactions on Aerospace and Electronic Systems},
  year={2006},
  volume={42},
  pages={174-190}
}
This paper presents a novel Kalman filter (KF) for estimating the attitude-quaternion as well as gyro random drifts from vector measurements. Employing a special manipulation on the measurement equation results in a linear pseudo-measurement equation whose error is state-dependent. Because the quaternion kinematics equation is linear, the combination of the two yields a linear KF that eliminates the usual linearization procedure and is less sensitive to initial estimation errors. General… CONTINUE READING

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