2015/02/13 by Mohammad Zamani, Jochen Trumpf, Zamani, M. +3
Computer Science · Earth and Planetary Sciences · Engineering · #FOS: Electrical engineering #Geophysics and Gravity Measurements #Inertial Sensor and Navigation #Systems and Control (eess.SY) #Target Tracking and Data Fusion in Sensor Networks #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1502.03990
openalex publication_date 2015/02/13 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper contains a concise comparison of a number of nonlinear attitude filtering methods that have attracted attention in the robotics and aviation literature. With the help of previously published surveys and comparison studies, the vast literature on the subject is narrowed down to a small pool of competitive attitude filters. Amongst these filters is a second-order optimal minimum-energy filter recently proposed by the authors. Easily comparable discretized unit quaternion implementations of the selected filters are provided. We conduct a simulation study and compare the transient behaviour and asymptotic convergence of these filters in two scenarios with different initialization and measurement errors inspired by applications in unmanned aerial robotics and space flight. The second-order optimal minimum-energy filter is shown to have the best performance of all filters, including the industry standard multiplicative extended Kalman filter (MEKF).