Affiliation:
1. Department of Civil and Mechanical Engineering , 18962 University of Cassino and Southern Lazio , Cassino , Italy
Abstract
Abstract
This research aims to establish the properties of the directional cosines and quaternion parameters to examine the proper scale, inclination, and numerical drift errors in a four-dimensional space. The research uses transformation matrices in the four-dimensional space whose elements are the directional cosines or quaternions. The kinematic equations are derived in terms of both directional cosines and quaternions. Applying the Kalman filter allows us to minimize the measurement error and refine the numerical calculation. The observation of the Euler angle covariance matrix takes on a crucial feature in the design of inertial navigation systems vital for analyzing efficient attitude.
Reference6 articles.
1. B. Juttler, “Visualization of moving objects using dual quaternion curves,” Comput. Graph., vol. 18, no. 3, pp. 315–326, 1994. https://doi.org/10.1016/0097-8493(94)90033-7.
2. J. B. Kuipers, Quaternions and Rotation Sequences: A Primer with Applications to Orbits, Aerospace, and Virtual Reality, Princeton, NJ, Princeton University Press, 1998.
3. X. Yun, M. Lizarraga, E. R. Bachmann, and R. B. McGhee, “An improved quaternion–based Kalman filter for real–time tracking of rigid body orientation,” in Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No. 03CH37453), vol. 2, IEEE, 2003, pp. 1074–1079.
4. E. Kraft, “A quaternion–based unscented Kalman filter for orientation tracking,” in Proceedings of the Aixth International Conference of Information Fusion, vol. 1, Cairns, IEEE, 2003, pp. 47–54.
5. J. S. Dai, “An historical review of the theoretical development of rigid body displacements from Rodrigues parameters to the finite twist,” Mech. Mach. Theory, vol. 41, no. 1, pp. 41–52, 2006. https://doi.org/10.1016/j.mechmachtheory.2005.04.004.
Cited by
1 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献