A Novel Quaternion Kalman Filter using GPS Measurements

Daniel Choukroun

Abstract:	This paper presents a novel Kalman filter for estimat- ing the attitude-quaternion from vectorized GPS phase measurements. Employing a special manipulation of the measurement equation results in a linear pseudo- measurement equation whose error is state dependent. Because the quaternion kinematics equation is linear, the combination of the two yields a linear Kalman fil- ter. In order to improve the convergence property of the filter, brute-force normalization of the estimated quaternion is added to the filter, which requires adding compensation to the estimation error covariance ma- trix. An adaptive version of the filter is also developed to handle modeling errors of the dynamic system noise statistics. Simulations are carried out which demon- strate the efficiency of both versions of the filter.
Published in:	Proceedings of the 15th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2002) September 24 - 27, 2002 Oregon Convention Center Portland, OR
Pages:	1117 - 1128
Cite this article:	Choukroun, Daniel, "A Novel Quaternion Kalman Filter using GPS Measurements," Proceedings of the 15th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2002), Portland, OR, September 2002, pp. 1117-1128.
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