NDLI: Recursive linear continuous quaternion attitude estimator from vector observations

Content Provider	IET Digital Library
Author	Wu, Jin Zhou, Zebo Fourati, Hassen Liu, Ming
Abstract	Attitude estimation from vector observations is widely employed in aerospace applications for accurate integrated navigation using solutions to Wahba's problem. Wahba's solutions are practical but may corrupt facing critical cases in the presence of almost collinear reference vector measurements, which is inevitable in robotic applications with redundant sensor arrays or platforms with celestial vision sensors in similar directions. Different from existing algorithms, this study presents a novel sequential multiplicative quaternion attitude estimation method from various vector sensor outputs. The unique linear constitution of the algorithm leads to its specific name of Recursive Linear Quaternion Estimator (RLQE). The algorithm's architecture is designed to use each single pair of vector observation linearly so that the vector observations can be arbitrarily chosen and fused. The closed-form covariance of the RLQE is derived that builds up the existence of a highly reliable RLQE Kalman filter. Simulations and experiments are carried out to give the performances of the authors’ algorithm and representative ones. Compared with other works, the proposed RLQE maintains good precision, better consistency and lower variance bounds. Moreover, the attitude estimation performance with critical cases is especially much better than conventional Wahba's solution on its continuity, accuracy and variance.
Starting Page	1196
Ending Page	1207
Page Count	12
ISSN	17518784
Volume Number	12
e-ISSN	17518792
Issue Number	Issue 11, Nov (2018)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-rsn/12/11
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-rsn.2018.5028
Journal	IET Radar, Sonar & Navigation
Publisher Date	2018-08-01
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Aerospace Application Aerospace Control Attitude Estimation Performance Attitude Measurement Celestial Vision Sensor Closed-form Covariance Collinear Reference Vector Measurement Computer Vision And Image Processing Technique Covariance Analysis Filtering Method in Signal Processing Image Sonsor Inertial Navigation System Kalman Filter Modelling And Identification Optical, Image And Video Signal Processing Recursive Estimation Recursive Linear Continuous Quaternion Attitude Estimator Redundant Sensor Array RLQE Kalman Filter Robotic Application Sequential Multiplicative Quaternion Attitude Estimation Simulation Spatial Variables Control Statistics Unique Linear Constitution Vector Observation Vector Sensor Wahba's Problem Wahba's Solutions
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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