11/03/07

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.

Abstract:

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.

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Bibtex Entry:

@techreport{Trawny05quat,

author = {Nikolas Trawny and Stergios I. Roumeliotis},
title = {Indirect {K}alman Filter for {3D} Attitude Estimation},
institution = {University of Minnesota, Dept. of Comp. Sci. \& Eng.},
month = mar,
year = {2005},
number = {2005-002}

}

© 2005 by Nikolas Trawny

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