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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Detalles Bibliográficos
Autores principales: Chiella, Antônio C. B., Teixeira, Bruno O. S., Pereira, Guilherme A. S.
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2019
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6566700/
https://www.ncbi.nlm.nih.gov/pubmed/31126032
http://dx.doi.org/10.3390/s19102372

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6566700/
https://www.ncbi.nlm.nih.gov/pubmed/31126032
http://dx.doi.org/10.3390/s19102372

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