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Indirect Kalman Filter For 3d Attitude Estimation
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Indirect Kalman Filter for 3D Attitude Estimation
mars.cs.umn.eduIndirect 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 ...