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