A quaternion-based unscented Kalman filter for orientation tracking

Proceedings of the 6th International Conference on Information Fusion, FUSION 2003

Volumn 1, Issue , 2003, Pages 47-54

  Kraft, Edgar ^a  

^a UNIVERSITY OF BONN   (Germany)

Author keywords

Estimation; Filtering; Quaternions; Tracking; Unscented kalman filter

Indexed keywords

ESTIMATION; FILTRATION; INFORMATION FUSION; KALMAN FILTERS; SURFACE DISCHARGES;

MAGNETIC FIELD STRENGTHS; NON-LINEAR RELATIONSHIPS; NONLINEAR PROCESS; ORIENTATION TRACKING; QUATERNION REPRESENTATION; QUATERNIONS; REAL-TIME ESTIMATION; UNSCENTED KALMAN FILTER;

NONLINEAR FILTERING;

EID: 84890813156     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICIF.2003.177425     Document Type: Conference Paper

References (5)

1. E. Dam, M. Koch, M. Lillholm, Quaternions, Interpolation and Animation, Technical Report DIKU-TR- 98/5, Department of Computer Science, Univ. Copenhagen, Denmark, 1998. (http://www.diku.dWresearch/published/98-5.ps.gz).
2. S. J. Julier and J. K. Uhlmann, A new extension of the Kalmanfilter to nonlinear systems, in International Symposium on Aerospace/Defense Sensing, Simulation and Controls, Orlando, USA, 1997.
3. X. Pennec, Computing the mean of geometric features -Application to the mean rotation, Institut National de Recherche en Informatique et en Automatique (INRIA), Le Chesnay, France, 1998. (http://www.inria.fr/rrrt/n-3371.html).
4. E. A. Wan, R. van der Merwe, The Unscented Kalman Filter, in Kalman Filtering and Neural Networks, pp. 221-280, Wiley Publishing, 2001.
5. T. Levebvre, H. Bruyninckx, J. De Schutter, Comment on "A New Method for the Nonlinear Transformation of Means and Covariances in Filters and Estimators", IEEE Transactions on Automatic Control, Vol. 47, pp. 1406 - 1408, 2002.