Pose estimation using linearized rotations and quaternion algebra

Acta Astronautica

Volumn 68, Issue 1-2, 2011, Pages 101-112

  Barfoot, Timothy ^a   Forbes, James R ^a   Furgale, Paul T ^a  

^a UNIVERSITY OF TORONTO   (Canada)

Author keywords

Linearized rotations; Pose estimation; Quaternion algebra

Indexed keywords

ERROR TERMS; ESTIMATION PROBLEM; FIRST-PRINCIPLES; LINEARIZED ROTATIONS; MULTIPLICATIVE ERRORS; POSE ESTIMATION; QUATERNION ALGEBRA; QUATERNION REPRESENTATION; ROTATION MATRICES; ROTATIONAL STATE; SUN SENSOR; WEIGHTED LEAST-SQUARES;

ALGEBRA; ESTIMATION; LINEARIZATION;

ROTATION;

EID: 77958025378     PISSN: 00945765     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.actaastro.2010.06.049     Document Type: Article

References (32)

1. I.Y. Bar-Itzhack, and Y. Oshman Attitude determination from vector observations: quaternion estimation IEEE Transactions on Aerospace and Electronic Systems AES-21 1985 128 136
2. D.C. Brown, A solution to the general problem of multiple station analytical stereotriangulation, Rca-mtp Data Reduction Technical Report no. 43 (or afmtc tr 58-8), Patrick Airforce Base, Florida, 1958.
3. J.C.K. Chou Quaternion kinematic and dynamic differential equations IEEE Transactions on Robotics and Automation 8 1 1992 53 64
4. J.L. Crassidis, F.L. Markley, and Y. Cheng A survey of nonlinear attitude estimation methods Journal of Guidance, Control, and Dynamics 30 1 2007 12 28
5. T.A. Ell, On Systems of Linear Quaternion Functions, ArXiv Mathematics e-prints, February 2007.
6. W.R. Hamilton Elements of Quaternions 1866 Longmans, Green & Co. London, England
7. A.S. Hardy Elements of Quaternions 1891 Ginn & Company Boston, USA
8. B. Horn Closed-form solution of absolute orientation using unit quaternions Journal of the Optical Society of America A 4 4 1987 629 642
9. P.C. Hughes Spacecraft Attitude Dynamics 1986 John Wiley & Sons New York
10. B.P. Ickes A new method for performing digital control system attitude computations using quaternions AIAA Journal 8 1 1970 13 17
11. R.E. Kalman A new approach to linear filtering and prediction problems Transactions of the ASMEJournal of Basic Engineering 82 Series D 1960 35 45
12. E.J. Lefferts, F.L. Markley, and M.D. Shuster Kalman filtering for spacecraft attitude estimation Journal of Guidance, Control, and Dynamics 5 5 1982 417 429
13. P. Mahalanobis, On the generalized distance in statistics, in: Proceedings of the National Institute of Science, vol. 2, India, 1936, pp. 4955.
14. M. Maimone, Y. Cheng, and L. Matthies Two years of visual odometry on the Mars exploration rovers Journal of Field Robotics 24 3 2007 169 186
15. F.L. Markley Attitude error representations for Kalman filtering Journal of Guidance, Control, and Dynamics 26 2 2003 311 317
16. F.L. Markley Attitude estimation or quaternion estimation? Journal of the Astronautical Sciences 52 12 2004 221 238
17. F.L. Markley, Multiplicative vs. additive filtering for spacecraft attitude determination, in: Proceedings of the Sixth Conference on Dynamics and Control of Systems and Structures in Space (DCSSS), vol. D22, Riomaggiore, Italy, July 2004.
18. L. Matthies, and S.A. Shafer Error modeling in stereo navigation IEEE Journal of Robotics and Automation 3 3 1987 239 248
19. L.H. Matthies, Dynamic stereo vision, Ph.D. Thesis, Carnegie-Mellon University, 1989.
20. J. Nocedal, and S.J. Wright Numerical Optimization second ed. 2006 Springer
21. B. Peirce Linear associative algebra American Journal of Mathematics 4 1 1881 97 229
22. M.D. Shuster A survey of attitude representations Journal of the Astronautical Sciences 41 4 1993 439 517
23. M.D. Shuster Constraint in attitude estimation part i: constrained estimation Journal of the Astronautical Sciences 51 1 2003 51 74
24. M.D. Shuster Constraint in attitude estimation part ii: unconstrained estimation Journal of the Astronautical Sciences 51 1 2003 75 101
25. R.C. Smith, and P. Cheeseman On the representation and estimation of spatial uncertainty The International Journal of Robotics Research 5 4 1986 56 68
26. R.C. Smith, M. Self, and P. Cheeseman Estimating uncertain spatial relationships in robotics I.J. Cox, G.T. Wilfong, Autonomous Robot Vehicles 1990 Springer Verlag New York 167 193
27. J. Stuelpnagel On the parameterization of the three-dimensional rotation group SIAM Review 6 4 1964 422 430
28. P.G. Tait An Elementary Treatise on Quaternions second ed. 1873 Cambridge University Press
29. B. Triggs, P.F. McLauchlan, R.I. Hartley, and A.W. Fitzgibbon Bundle adjustmenta modern synthesis B. Triggs, A. Zisserman, R. Szeliski, Vision Algorithms '99, Lecture Notes in Computer Science vol. 1883 2000 Springer-Verlag Berlin, Heidelberg 298 372
30. G. Wahba Problem 65-1: a least squares estimate of satellite attitude SIAM Review 7 3 1965 409
31. E.T. Whittaker A Treatise on the Analytical Dynamics of Particles and Rigid Bodies fourth ed. 1959 Cambridge University Press
32. R. Zanetti, M. Majji, R. Bishop, and D. Mortari Norm-constrained Kalman filtering Journal of Guidance, Control, and Dynamics 32 5 2009 1458 1465