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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...
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| Publié dans: | Sensors (Basel) |
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| Auteurs principaux: | , , |
| Format: | Artigo |
| Langue: | Inglês |
| Publié: |
MDPI
2019
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| Sujets: | |
| Accès en ligne: | https://ncbi.nlm.nih.gov/pmc/articles/PMC6566700/ https://ncbi.nlm.nih.gov/pubmed/31126032 https://ncbi.nlm.nih.govhttp://dx.doi.org/10.3390/s19102372 |
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