Recent content by Dave_fr

Yes, I'm propagating the state forward using quaternion. I do also once every X time steps normalize the quaternions. Do you think that working MRP and set the orign as the "down direction" would be the way to go (cf previous post) ? Can you also tell me what are the real dangers to work...

Thank you very much for your answer. I have red the NASA paper which is very interesting. Now, what I'm interested in is creating an attitude estimator for an UAV. I have already written one using quaternions and a PI corrector which works fine for me but apparently is not as good as a kalman...

DH, I'm very interested in the modified Rodrigues parameter method but one question arises. Can you tell us why it seems to be concidered as a much better approach than working with Euler angle directly in the EKF especially concidering that singularities happen at 360°. Is this singularitiy...