Indirect Kalman Filter for 3D Attitude Estimation

Indirect Kalman Filter for 3D Attitude Estimation Nikolas Trawny and Stergios I. Roumeliotis Department of Computer Science & Engineering University of Minnesota Multiple Autonomous Robotic Systems Laboratory Technical Report Number 2005-002. March 2005. Dept. of Computer Science & Engineering University of Minnesota 4-192 EE/CS Building 200 Union St. Minneapolis, MN 55455. Tel: (612) 625-2217. Fax: (612) 625-0572. URL: trawny Indirect Kalman Filter for 3D Attitude Estimation Nikolas Trawny and Stergios I. Roumeliotis Department of Computer Science & Engineering University of Minnesota Multiple Autonomous Robotic Systems Laboratory, TR-2005-002. March 2005. 1 Elements of Quaternion Algebra Quaternion Definitions The quaternion is generally defined as q = q4 + q1 i + q2 j + q3 k (1).

Indirect Kalman Filter for 3D Attitude Estimation Nikolas Trawny and Stergios I. Roumeliotis Department of Computer Science & Engineering University of Minnesota Multiple Autonomous Robotic Systems Laboratory, TR-2005-002 March 2005 1 Elements of Quaternion Algebra 1.1 Quaternion Definitions The quaternion is generally defined as q„= q4 ...

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