Quaternion kinematics for the error-state Kalman filter — mentioned by thermistokles

Fri, 10 Dec 2021 20:59:34 GMT

There are actually even more. You can actually have 12 different variations depending on certain choices. Though the other sources of differences are minor. https://arxiv.org/abs/1711.02508 This is actually a great source of frustration in the robotics state estimation community, as you have the influential University of Minnesota using JPL, and most other universities using Hamiltonian.

Paper and discussion history. A mention is not an endorsement.

Quaternion kinematics for the error-state Kalman filter · HackerPapers discussions

Quaternion kinematics for the error-state Kalman filter — mentioned by thermistokles