Most existing algorithms for attitude estimation of mechanical systems use generalized
coordinates to represent the group of rigid body rotations. Generalized coordinate …

This work studies vector representation in the attitude filtering problem. Because vector
coordinates must be estimated in lieu of the abstract vector itself, the choice of …

A deterministic attitude filter is derived based on the principles of minimum-energy filtering.
The proposed filter is applied to the attitude kinematics of a rigid body in 3D space and is …

REQUEST is a recursive algorithm for least-squares estimation of the attitude quaternion of
a rigid body using vector measurements. It uses a constant, empirically chosen gain and is …

A deterministic attitude estimator for a rigid body under an attitude dependent potential is
studied using small error assumptions. This estimator requires only a single direction …

The filter represents rotations using quaternions rather than Euler angles, which eliminates
the long-standing problem of singularities associated with those angles. A process model for …

This paper concerns the problem of attitude determination and estimation. The early
applications considered algebraic methods of attitude determination. Attitude determination …

A deterministic attitude estimation problem for a rigid body in an attitude dependent potential
field with bounded measurement errors is studied. An attitude estimation scheme that does …

This article presents the full analytical derivations of the attitude error kinematics equations.
This is done for several attitude error representations, obtaining compact closed-forms …

Attitude estimation refers to the process of estimating the current attitude state of a system
from a set of measured observations. The state estimation problem involves finding the best …