A Novel Attitude and Motion Determination Algorithm Based on Dual Quaternion

Chen-Ying Kao, He-Sheng Wang, Szu-Kai Wang

Abstract:	In this paper, we present a dual-quaternion approach to solve the problem of (simultaneously) three-dimensional (3-D) attitude, position and relative motion determination by using two-dimensional (2-D) intensity image mea-surement. Here we shall apply this method to a relatively new field, namely the problem of tracking and surveil-lance of moving vehicle. A solution to this problem that uses two-dimensional, intensity images from a single camera is desirable for real-time applications. A single camera is advantageous because a standard video camera is low in cost, setup and calibration are simple, physical space requirements are small, reliability is high, and low-cost hardware is available for digitizing and processing the images. In this paper, solutions to the remote mea-surement (using a single camera) problem for a dynamic system given a sequence of 2-D intensity images of an object are provided for both of the cases where feature positions of the object are known relative to a base refer-ence frame and where feature positions are unknown rela-tive to a base reference frame. In both cases, the location of the base reference frame is calculated in a timely man-ner by using the differential GPS positioning concept, where the DGPS correction is sent via a wireless network.
Published in:	Proceedings of the 2009 International Technical Meeting of The Institute of Navigation January 26 - 28, 2009 Disney's Paradise Pier Hotel Anaheim, CA
Pages:	635 - 641
Cite this article:	Kao, Chen-Ying, Wang, He-Sheng, Wang, Szu-Kai, "A Novel Attitude and Motion Determination Algorithm Based on Dual Quaternion," Proceedings of the 2009 International Technical Meeting of The Institute of Navigation, Anaheim, CA, January 2009, pp. 635-641.
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