A Unity-norm Preserving Quaternion Extended Kalman Filter

Iyad Hashlamon

2021

Abstract

Preserving the quaternion unity norm has significant importance when combined with the extended Kalman filter (EKF) for state estimation of nonlinear systems perturbed by noise using noisy measurements. Although this unity challenge is solved numerically on the estimated quaternion, it is normalized out of the EKF algorithm. Projecting this constraint on the derivation of the EKF algorithm to preserve the quaternion unity norm is the purpose of this paper. The quaternion unity norm constraint is derived in two forms and projected on the EKF gain derivation. Then this gain is used to update the quaternion vector keeping its unity norm. The results show that the unity norm is preserved using the proposed constrained quaternion EKF (CQEKF) even though sudden changes occur.

Paper Citation

in Harvard Style

Hashlamon I. (2021). A Unity-norm Preserving Quaternion Extended Kalman Filter. In Proceedings of the 4th International Conference on Applied Science and Technology on Engineering Science - Volume 1: iCAST-ES, ISBN 978-989-758-615-6, pages 1435-1439. DOI: 10.5220/0010966900003260

in Bibtex Style

@conference{icast-es21,
author={Iyad Hashlamon},
title={A Unity-norm Preserving Quaternion Extended Kalman Filter},
booktitle={Proceedings of the 4th International Conference on Applied Science and Technology on Engineering Science - Volume 1: iCAST-ES,},
year={2021},
pages={1435-1439},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010966900003260},
isbn={978-989-758-615-6},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 4th International Conference on Applied Science and Technology on Engineering Science - Volume 1: iCAST-ES,
TI - A Unity-norm Preserving Quaternion Extended Kalman Filter
SN - 978-989-758-615-6
AU - Hashlamon I.
PY - 2021
SP - 1435
EP - 1439
DO - 10.5220/0010966900003260