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 …

Human body orientation estimation from microinertial/magnetic sensor units is highly
important for synthetic environments, robotics, and other human-computer interaction …

Utilizing the Euler-Rodrigues symmetric parameters (attitude quaternion) to describe vehicle
orientation, we develop a multiplicative, nonlinear variation of the Kalman filter to fuse data …

This paper describes a Kalman filter for the real-time estimation of a rigid body orientation
from measurements of acceleration, angular velocity and magnetic field strength. A …

In this paper we present a quaternion-based Extended Kalman Filter (EKF) for estimating the
three-dimensional orientation of a rigid body. The EKF exploits the measurements from an …

The absence of a globally nonsingular three-parameter representation of rotations forces
attitude Kalman filters to estimate either a singular or a redundant attitude representation …

A geometrically intuitive quaternion-based complementary attitude and heading reference
system (CAHRS) proposed in our previous work estimated the attitude of a magnetic and …

The absence of a globally nonsingular three-parameter representation of the rotation group
forces attitude Kalman filters to estimate either a singular or a redundant attitude …

This paper is concerned with orientation estimation using inertial and magnetic sensors. A
quaternion-based indirect Kalman filter structure is used. The magnetic sensor output is only …

Real-time orientation estimation using low-cost inertial sensors is essential for all the
applications where size and power consumption are critical constraints. Such applications …