Attitude Determination Using a Single Sensor Observation: Analytic Quaternion Solutions and Property Discussion (accepted)

Abstract : This paper solves the attitude determination problem based on a single sensor observation. The rotation equation is transformed into a quadratic quaternion form and is then derived to a linear matrix equation with pseudoinverse matrices. The analytic solutions to the equation are computed via elementary row operations. The solutions show that the attitude determination from a single sensor observation has infinite solutions and the general solution is governed by two limiting quaternions. Accordingly, the variance analysis is further given for probablistic view. We explore the experimental results via the accelerometer attitude determination system. The properties of the two limiting quaternions are investigated in the experiment. The results show that the gravity-determination abilities of the two limiting quaternions are quite different. Using the rotation vector and eigen decomposition of the attitude matrix, we prove that one limiting quaternion is better than another one. The singularity analysis is also performed revealing the nonexistence of singularities for limiting quaternions. The above findings are novel, which are quite different from the conclusions made in a previously published paper.
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Article dans une revue
IET Science Measurement and Technology, Institution of Engineering and Technology, 2017
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Contributeur : Hassen Fourati <>
Soumis le : mardi 25 avril 2017 - 17:16:57
Dernière modification le : jeudi 15 juin 2017 - 09:08:48

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  • HAL Id : hal-01514132, version 1

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Jin Wu, Zebo Zhou, Rui Li, Long Yang, Hassen Fourati. Attitude Determination Using a Single Sensor Observation: Analytic Quaternion Solutions and Property Discussion (accepted). IET Science Measurement and Technology, Institution of Engineering and Technology, 2017. <hal-01514132>

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