N. Trawny and S. I. Roumeliotis, “Indirect Kalman Filter for 3D Attitude Estimation,” University of Minnesota, Dept. of Comp. Sci. & Eng., Tech. Rep. 2005-002, March 2005.
This technical report reviews quaternion algebra, like quaternion multiplication, inverse, relation to the rotational matrix, quaternion differentiation, integration and multiplicative error quaternions. It then uses these derivations as a basis for deriving an extended Kalman filter for 3D attitude estimation from an IMU (3-axial gyroscope). Gyro biases are modeled as brownian motion.
© 2005 by Nikolas Trawny
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