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 …

Henceforth, we will use the term “quaternion” to refer to a quaternion of rotation. The quaternion
q and the quaternion− q describe a rotation to the same final coordinate system position, …

… The Kalman filter (KF) is the optimal estimator that minimizes … Kalman filter implementations
called extended Kalman filters … and then designing the Kalman filter gain for the linearized …

… 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 …

… 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 …

… Actual results of these filters have shown better … estimates performed based on the standard
Kalman filter. See for instance [9, 10]. In [9], a robust filter was applied to position estimation …

… 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: 1) a nonlinear
extended Kalman filter … ) a multi-hypothesis extended Kalman filter (MEKF) for detection and …

… 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 …