http://iet.metastore.ingenta.com
1887

Velocity, acceleration and rotation measurement

More general concepts than this:

1-1 of 1 results

Filter by subject:

< Any subject

  • Physics [1]
  • General [1]
  • Mathematical methods in physics [1]
  • Algebra, set theory, and graph theory [1]
  • Probability theory, stochastic processes, and statistics [1]
  • Measurement science, general laboratory techniques, and instrumentation systems [1]
  • Measurement of basic variables [1]
  • Spatial variables measurement [1]
  • Velocity, acceleration and rotation measurement [1]
  • General instrumentation [1]
  • See more See less

Filter by content type:

Filter by publication date:

Filter by author:

< Any author

Attitude determination using a single sensor observation: analytic quaternion solutions and property discussion
Author(s): Jin Wu, Zebo Zhou, Rui Li, Long Yang, Hassen Fourati
Source: IET Science, Measurement & Technology, Volume 11, Issue 6, 2017 , p. 731 - 739
Type: Article
+ Show details - Hide details

This study solves the attitude determination problem based on a single sensor observation. The rotation equation is transformed into a quadratic quaternion form and is then derived to a linear matrix equation with pseudoinverse matrices. The analytic solutions to the equation are computed via elementary row operations. The solutions show that the attitude determination from a single sensor observation has infinite solutions and the general one is governed by two limiting quaternions. Accordingly, the variance analysis is given in view of probabilistic characters. The authors explore the experimental results via the accelerometer attitude determination system. The properties of the two limiting quaternions are investigated in the experiment. The results show that the gravity-determination abilities of the two limiting quaternions are quite different. Using the rotation vector and eigenvalue decomposition of the attitude matrix, the authors prove that one limiting quaternion is better than another one geometrically. The singularity analysis is also performed revealing the non-existence of singularities for limiting quaternions. The above findings are novel, which are quite different from the conclusions made in a previously published study.

Add to favourites
Export citations
Items per page 20 | 50 | 100
Print this page
This is a required field
Please enter a valid email address