Quaternion-Based Attitude Estimation Kalman Filter Using Global Optimization
This paper presents a modified Kalman filter for estimating quaternion using inertial and magnetic sensors. When the initial estimation error is large, the convergence rate of the multiplicative extended Kalman filter tends to be slow due to the assumption of small estimation errors. In this paper,...
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| Format: | Article |
| Language: | English |
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IEEE
2023-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10295487/ |