Journal
ACTA ASTRONAUTICA
Volume 68, Issue 1-2, Pages 101-112Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.actaastro.2010.06.049
Keywords
Pose estimation; Linearized rotations; Quaternion algebra
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Funding
- Natural Sciences and Engineering Research Council (NSERC) of Canada
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In this paper we revisit the topic of how to formulate error terms for estimation problems that involve rotational state variables. We present a first-principles linearization approach that yields multiplicative error terms for unit-length quaternion representations of rotations, as well as for canonical rotation matrices. Quaternion algebra is employed throughout our derivations. We show the utility of our approach through two examples: (i) linearizing a sun sensor measurement error term, and (ii) weighted-least-squares point-cloud alignment. (C) 2010 Elsevier Ltd. All rights reserved.
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