2005/09/15 by Amit K. Sanyal, Sanyal, Amit K.
Earth and Planetary Sciences · Engineering · Mathematics · #49Q99 #93E10 #93E11 #Adaptive Control of Nonlinear Systems #FOS: Mathematics #Geophysics and Gravity Measurements #Inertial Sensor and Navigation #Optimization and Control (math.OC) #math.OC #msc:49Q99 #msc:93E10 #msc:93E11
paper · pdf · doi:10.48550/arxiv.math/0509357
Submitted to: 2006 American Control Conference (8 pages)
arxiv created 2005/09/15 · openalex publication_date 2005/09/15 · arxiv updated 2009/12/01 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
There are several attitude estimation algorithms in existence, all of which use local coordinate representations for the group of rigid body orientations. All local coordinate representations of the group of orientations have associated problems. While minimal coordinate representations exhibit kinematic singularities for large rotations, the quaternion representation requires satisfaction of an extra constraint. This paper treats the attitude estimation and filtering problem as an optimization problem, without using any local coordinates for the group of rotations. An attitude determination algorithm and attitude estimation filters are developed, that minimize the attitude and angular velocity estimation errors. For filter propagation, the attitude kinematics and deterministic dynamics equations (Euler's equations) for a rigid body in an attitude-dependent potential are used. Vector attitude measurements are used for attitude and angular velocity estimation, with or without angular velocity measurements.