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Pré-Publication, Document De Travail Année : 2017

Linear Solution to Attitude Determination from Vector Observations

Résumé

This paper deals with the attitude determination problem where the effect of weights is ignored. In this way, the developed method is named as the Sub-Optimal Linear Estimator of Quaternion (SOLEQ). The theory is established based on a recent publication and the two-vector matrix multiplications are decomposed with the Eigenvalue Factorization. Some analytical results are proved and given which provides the audience with a brand new viewpoint of the attitude determination and its evolution inside. With the derivations of two-vector case, the n-vector cased is then naturally formed. Simulations are carried out showing the accuracy and time consumption of the proposed SOLEQ, compared with representative ones. The algorithm is then implemented using C++ programming language on the designed hardware with 3-axis accelerometer, 3-axis magnetometer, giving the effectiveness validation of the SOLEQ in real-world applications.
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Dates et versions

hal-01525603 , version 1 (22-05-2017)
hal-01525603 , version 2 (20-07-2017)
hal-01525603 , version 3 (09-08-2017)
hal-01525603 , version 4 (11-12-2017)

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Paternité

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  • HAL Id : hal-01525603 , version 1

Citer

Jin Wu, Zebo Zhou, Jinling Wang, Hassen Fourati. Linear Solution to Attitude Determination from Vector Observations. 2017. ⟨hal-01525603v1⟩
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