An improved quaternion Gauss–Newton algorithm for attitude determination using magnetometer and accelerometer

• DOI: 10.1016/j.cja.2014.03.005
• Publication Date: 2014-04-24T05:16:04Z
• Authors: Fei Liu; Jie Li; Haifu Wang; Chang Liu
• Keywords: Accelerometer; 0203 mechanical engineering; Mechanical Engineering; Measurements; Gauss–Newton algorithm; Aerospace Engineering; 02 engineering and technology; Attitude determination; Magnetometer

For the vector attitude determination, traditional optimal algorithms which are based on quaternion estimator (QUEST) measurement noise model complicated for just two observations. In our application, magnetometer and accelerometer not comparable kinds of sensors both small field-of-view as well. So in this paper a new unit is derived. According to Wahba problem, weights each obtained by error variance researches. Then an improved Gauss–Newton method presented adopted acquire attitude. Eventually, simulation results experimental validation employed test proposed demonstrate usefulness algorithm.