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Register a new userParticle Filtering for Attitude Estimation Using a Minimal Local-Error Representation: A Revisit
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Added by
Lubin Chang
Publication date
2014
fields
Informatics Engineering
and research's language is
English
Authors
Lubin Chang
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In this note, we have revisited the previously published paper Particle Filtering for Attitude Estimation Using a Minimal Local-Error Representation. In the revisit, we point out that the quaternion particle filtering based on the local/global representation structure has not made full use of the advantage of the particle filtering in terms of accuracy and robustness. Moreover, a normalized quaternion determining procedure based on the minimum mean-square error approach has been investigated into the quaternion-based particle filtering to obtain the fiducial quaternion for the transformation between quaternion and modified Rodrigues parameter. The modification investigated in this note is expected to make the quaternion particle filtering based on the local/global representation structure more strict.
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