Quaternion-Based Robust Attitude Estimation Using an Adaptive Unscented Kalman Filter

Quaternion-Based Robust Attitude Estimation Using an Adaptive Unscented Kalman Filter

This paper presents the Quaternion-based Robust Adaptive Unscented Kalman Filter (QRAUKF) for attitude estimation. The proposed methodology modifies and extends the standard UKF equations to consistently accommodate the non-Euclidean algebra of unit quaternions and to add robustness to fast and slow...

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Bibliographic Details
Main Authors: Antônio C. B. Chiella, Bruno O. S. Teixeira, Guilherme A. S. Pereira
Format: Article
Language:English
Published: MDPI AG 2019-05-01
Series:Sensors
Subjects:
unit quaternion
unscented Kalman filter
MARG sensor
adaptive filtering
Online Access:https://www.mdpi.com/1424-8220/19/10/2372

Internet

https://www.mdpi.com/1424-8220/19/10/2372

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