Generalized Nonlinear Complementary Attitude Filter

Abstract

A = matrices a = true value ~ A = Â T A ; left multiply error â = estimated value a = measured value ~ a = error between estimated and true values hai = time-averaged expectation value A;B , fA;Bg = commutator or anticommutator of A and B A = equilibrium point AI = CAC ; matrix in inertial frame Ps A , Pa A = symmetric or antisymmetric projection of A x = vectors x = matrix equivalent form of cross product xI = Cx; vector in inertial frame