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A new class of Rodrigues-vectors-based strapdown attitude algorithms is developed in this paper. This class of algorithms uses Rodrigues vectors instead of the widely used rotation vector and applies the conception of least square technique. The multiple summations of gyro samples is used to obtain the least square estimation of Rodrigues vectors increment in an attitude update period. Such estimation...
This paper presents an efficient Extended Kalman Filter (EKF) which can simultaneously process all the observation information. The EKF applies the Rodrigues parameters of attitude and gyro drift-rate bias vector as the state vector. A new third order measurement equation is used which contains all the observation information. By using this measurement equation, the computation of the gain matrix...
This paper extends the optimal linear attitude estimator optimality loss function based on the weighted-least-squares theory and gives an analysis of the relationship between the extended loss function and the others. Covariance analysis shows that, for the appropriate weighting matrix and zero-mean Gaussian noise, minimization of the extended loss function is equivalent to both the maximum likelihood...
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