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Kalman Filtering for Attitude Estimation with Quaternions and Concepts from Manifold Theory
The problem of attitude estimation is broadly addressed using the Kalman filter formalism and unit quaternions to represent attitudes. This paper is also included in this framework, but introduces a new viewpoint from which the notions of “multiplicative update” and “covariance correction step” are...
| Autores principales: | , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
MDPI
2019
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| Materias: | |
| Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6339217/ https://www.ncbi.nlm.nih.gov/pubmed/30609863 http://dx.doi.org/10.3390/s19010149 |