IRI - Quaternion kinematics for the error-state Kalman filter

Publication

Quaternion kinematics for the error-state Kalman filter

Technical Report (2016)

IRI code

IRI-TR-16-02

File

Download the digital copy of the doc pdf document

Authors

Solà Ortega, Joan

Abstract

A complete compendium of Quaternion formulas, with applications to Kalman filtering for visual-inertial navigation.

Scientific reference

J. Solà. Quaternion kinematics for the error-state Kalman filter. Technical Report IRI-TR-16-02, Institut de Robòtica i Informàtica Industrial, CSIC-UPC, 2016.