Photo from wikipedia
This paper presents a new filter estimating quaternion using inertial and magnetic sensors. Using a reference coordinate system multiplicative quaternion error representation and a constrained structure filter gain, the proposed… Click to show full abstract
This paper presents a new filter estimating quaternion using inertial and magnetic sensors. Using a reference coordinate system multiplicative quaternion error representation and a constrained structure filter gain, the proposed filter has a separation property, where the magnetic sensor output does not affect pitch and roll angle estimation. Furthermore, the proposed filter gain can be computed just from five scalar equations. Through simulation, the separation property of the proposed filter is verified.
Journal Title: IEEE Transactions on Aerospace and Electronic Systems
Year Published: 2019
Link to full text (if available)
Share on Social Media: Sign Up to like & get
recommendations!