Combined Quaternion-Based Error State Kalman Filtering and Smooth Variable Structure Filtering for Robust Attitude Estimation
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DOI: 10.1109/access.2019.2946609
Abstract: This paper presents a novel robust quaternion-based error state Kalman filter (ESKF) for coping with modeling uncertainty in inertial measurement unit (IMU)-based attitude estimation. The smooth variable structure filter (SVSF) has recently been proposed and… read more here.
Keywords: state kalman; svsf; eskf; quaternion based ... See more keywords