THIS report reviews the methods of Kalman filtering in attitude estimation and their development
over the last two decades. This review is not intended to be complete but is limited to …

… In the update phase of the Kalman filter, we will use an exteroceptive sensor to measure
orientation. Common examples are star- and sunsensors. We will now consider a simplified …

… and ErKF filter-based approaches for the attitude estimation of … some cases significantly better,
attitude estimates than the EKF, … An additional advantage of the ErKF in attitude estimation …

… in GPS to estimate both the position and the attitude in fixed-… In this paper we propose an
attitude estimator using the UKF … are involved in the proposed estimator. The validation of the …

… attitude estimated by nonlinear estimator Cubature Kalman Filter with results obtained by the
Extended Kalman Filter … of the Cubature Kalman Filter CKF on attitude estimation problems …

… the importance of a good attitude estimation. In order to localize an … As we have illustrated,
having a good estimation of attitude is … : to create a real time attitude estimator. After that, the …

… Kalman Filter is an optimal filter for estimating a linear system.[1] The simplicity, recursive
structure, and mathematical rigour of the derivation of the Kalman Filter … Extended Kalman Filter …

… attitude estimation. Among so many nonlinear filters, EKF is the most widely used, the
simplest filter… , and then uses the basic Kalman filter steps for state estimation update [19]. The …

… attitude determination (AD) and FDI for sensors and actuators by developing (i) a nonlinear
Extended Kalman Filter … (iii) a Multi-Hypothesis Extended Kalman Filter (MEKF) for detection …

… In this paper, a Robust Kalman filtering method is proposed for the attitude estimation
problem. By … In this paper, a robust Kalman filtering method is proposed for spacecraft attitude …