Essays about: "Quaternion"

Showing result 6 - 10 of 14 essays containing the word Quaternion.

1. 6. Attitude Navigation using a Sigma-Point Kalman Filter in an Error State Formulation

   University essay from KTH/Rymd- och plasmafysik

   Author : Periklis-Konstantinos Diamantidis; [2017]
   Keywords : unscented Kalman filtering; information ltering; quaternions; attitude navigation; gyroscope modelling; error state formulation; sensor fusion;

   Abstract : Kalman filtering is a well-established method for fusing sensor data in order to accuratelyestimate unknown variables. Recently, the unscented Kalman filter (UKF) has beenused due to its ability to propagate the first and second moments of the probability distribution of an estimated state through a non-linear transformation. READ MORE

3. 7. A Comparison of Rotation Parameterisations for Bundle Adjustment

   University essay from Umeå universitet/Institutionen för datavetenskap

   Author : Nuerrennisahan Aimaiti; [2015]
   Keywords : ;

   Abstract : Bundle Adjustment is an iterative process where 3D information is estimated from 2D image measurements. Typically, the position of object points are estimated simultaneously with the position and orientation of the cameras. READ MORE

4. 8. Unscented Kalman Filters for Attitude and Orbit Estimation of a Low Earth Orbit CubeSat

   University essay from KTH/Rymd- och plasmafysik

   Author : Vlad Grigore; [2015]
   Keywords : ;

   Abstract : In this paper two Unscented Kalman Filters (UKF) are implemented to solve the estimation of a satellite's position in orbit and its orientation relative to Earth's Centered Inertial frame. Their aim is to see if an absolute position accuracy of less than 1 km and an orientation estimation to less than 1 0 are possible for a 3U CubeSat with GPS, sun sensors, magnetometers and a star tracker as sensors. READ MORE

5. 9. Extended Kalman Filter for Robust UAV Attitude Estimation

   University essay from Linköpings universitet/Reglerteknik; Linköpings universitet/Tekniska fakulteten

   Author : Martin Pettersson; [2015]
   Keywords : Kalman; autonomous; UAV; EKF; attitude; INS; IMU;

   Abstract : Attitude estimation of unmanned aerial vehicles is of great importance as it enables propercontrol of the vehicles. Attitude estimation is typically done by an attitude-heading refer-ence system (ahrs) which utilises different kind of sensors. READ MORE

6. 10. Modelling and control of a hexarotor UAV

   University essay from Linköpings universitet/Reglerteknik; Linköpings universitet/Tekniska fakulteten

   Author : Simon Lindblom; Adam Lundmark; [2015]
   Keywords : multirotor; hexarotor; hexacopter; mpc; automatic control; modelling;

   Abstract : This thesis is a study of modelling and control of a multirotor unmanned aerial vehicle(UAV). On behalf of Intuitive Aerial, a model of their hexarotor aircraft has been developedas a tool in further development and testing of their product. READ MORE