Performance Analysis of Quaternion-based Least-squares Methods for GPS Attitude Estimation

GPS 자세각 추정을 위한 쿼터니언 기반 최소자승기법의 성능평가

  • 원종훈 (아주대학교 대학원 전자공학과) ;
  • 김형철 (아주대학교 대학원 전자공학과) ;
  • 고선준 (아주대학교 대학원 전자공학과) ;
  • 이자성 (아주대학교 전자공학부)
  • Published : 2001.07.18

Abstract

In this paper, the performance of a new alternative form of three-axis attitude estimation algorithm for a rigid body is evaluated via simulation for the situation where the observed vectors are the estimated baselines of a GPS antenna array. This method is derived based on a simple iterative nonlinear least-squares with four elements of quaternion parameter. The representation of quaternion parameters for three-axis attitude of a rigid body is free from singularity problem. The performance of the proposed algorithm is compared with other eight existing methods, such as, Transformation Method (TM), Vector Observation Method (VOM), TRIAD algorithm, two versions of QUaternion ESTimator (QUEST), Singular Value Decomposition (SVD) method, Fast Optimal Attitude Matrix (FOAM), Slower Optimal Matrix Algorithm (SOMA).

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