… This error state KF (ErKF) approach, by deriving the error state dynamics, via the … in the
error states and optimal prediction and updates in the error state covariance. This is because the …

… between the true error in the system’s state, k, and the error state estimate, k (thesymbol
denotes it is an estimate). Superscripts indicate whether the error state estimate is a priori (ie, − …

… Attitude estimates are then propagated between measurements using a filter and measured
angular velocities; these estimates … error in the state (that is estimated state minus true state, …

… algorithms that are robust to faults in the angular rate estimates … attitude estimation algorithm
called the ESKF-SVSF algorithm, which effectively combines the accuracy of an error state …

… attitude estimation and smoothing algorithm is developed that is capable of accurate
state estimation for … This algorithm is based on the minimum model error (MME)17 batch-estimation …

… vector state estimation with respect to the attitude state frame. Specifically, an alternative
vector state error … The discrete error state transition matrix can be derived using a power series …

… error state, are tested against a quaternionbased filter using simulated data for the THEMIS
mission. The infinitesimal attitude error angles are components of the error state in … 3 attitude …

… attitude estimation, and the error state Kalman filter (ESKF) is an essential data fusion
technology. To eliminate the confusions regarding problems like error state … right-multiplied error …

… errorstate to solve realize the direct estimation of the process noise covariance according
to the VB method. Considering the attitude … In case A and B, the attitude estimation errors of …

… is on attitude estimation using an Indirect Kalman filter that operates on the error state. … As
previously mentioned, we study the simple case of attitude estimation when the vehicle moves …