Constrained filtering method for attitude determination using GPS and gyro
Journal
IEE Proceedings: Radar, Sonar and Navigation
Journal Volume
149
Journal Issue
5
Pages
258-264
Date Issued
2002
Author(s)
Abstract
In attitude determination using the unit quaternion representation, the unit norm constraint results in singularity of the covariance matrix using classical filtering methods. To cope with this problem, a constrained filtering method is developed. In this method, the constraint equations and the state equations are treated as pseudo-measurement equations, so that they can be processed simultaneously with the real measurement equations. To illustrate the application of the proposed scheme, a scenario using GPS and gyro to perform attitude determination is considered. Software simulations show that the proposed scheme is sound, effective, and superior to existing methods.
Type
conference paper