Abstract A method to estimate the general rigid body attitude using a minimal modified Rodrigues parameters (MRP) coordinate set is presented. The singularity avoidance technique is based on the stereographic projection properties of the MRP set, and makes use of a simple mapping relationship between MRP representations. Previous work has used the MRP duality to avoid singular attitude descriptions but has ignored the associated covariance transformation. This article presents a mapping to transform the state covariance matrix between these two representations as the attitude description is mapped between the two possible MRP sets. Second-order covariance transformations suitable for divided difference filtering are also provided. The MRP filter formulation based on extended Kalman filtering and divided difference filtering is compared with a standard multiplicative quaternion Kalman filter in an example problem.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Nonsingular Attitude Filtering Using Modified Rodrigues Parameters


    Contributors:

    Published in:

    Publication date :

    2009-10-01


    Size :

    15 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Nonsingular Attitude Filtering Using Modified Rodrigues Parameters

    Karlgaard, Christopher D | Online Contents | 2009


    Nonsingular Attitude Filtering Using Modified Rodrigues Parameters

    Karlgaard, Christopher D. / Schaub, Hanspeter | Online Contents | 2009


    Nonsingular Attitude Filtering Using Modified Rodrigues Parameters (AAS 09-130)

    Karlgaard, C.D. / Schaub, H. / American Astronautical Society et al. | British Library Conference Proceedings | 2009


    Attitude Estimation Using Modified Rodrigues Parameters

    J. L. Crassidis / F. L. Markley | NTIS | 1996


    Attitude Estimation Using Modified Rodrigues Parameters

    Crassidis, J. / Markley, F. / Goddard Space Flight Center | British Library Conference Proceedings | 1996