This paper presents an algorithm to average a set of quaternion observations. The average quaternion is determined by minimizing the weighted sum of the squared Frobenius norms of the corresponding attitude matrix differences, subject to the unit-norm constraint in the determined solution. Two cases are presented: one that incorporates scalar weights and one that incorporates general weights on...

we derive the formulas of the maximal andminimal ranks of four real matrices $x_{1},x_{2},x_{3}$ and $x_{4}$in common solution $x=x_{1}+x_{2}i+x_{3}j+x_{4}k$ to quaternionmatrix equations $a_{1}x=c_{1},xb_{2}=c_{2},a_{3}xb_{3}=c_{3}$. asapplications, we establish necessary and sufficient conditions forthe existence of the common real and complex solutions to the matrixequations. we give the exp...

A new quaternion based method is presented which recovers albedo for shape reconstruction from three color images for three directions of white light source. In the conventional approaches, red, green and blue components are considered separately so there is a loss of information. The albedo maps recovered are not accurate enough to recover shape. Property of quaternion is that a color can then...

Initial alignment of the strapdown inertial navigation system (SINS) is intended to determine the initial attitude matrix in a short time with certain accuracy. The alignment accuracy of the quaternion filter algorithm is remarkable, but the convergence rate is slow. To solve this problem, this paper proposes an improved quaternion filter algorithm for faster initial alignment based on the erro...

The traditional methods for representing forward kinematics of manipulators have been the homogeneous matrix in line with the D-H algorithm. In this paper a new method known as quaternion algebra is described and it is used for three dimensional representation and orientation in robot kinematics. This method is compared with homogeneous transform in terms of easiness of representation, computat...

In this paper a necessary and sufficient condition is established for the existence of the reflexive re-nonnegative definite solution to the quaternion matrix equation AXA∗ = B, where ∗ stands for conjugate transpose. The expression of such solution to the matrix equation is also given. Furthermore, a necessary and sufficient condition is derived for the existence of the general re-nonnegative ...

In this paper a necessary and sufficient condition is established for the existence of the reflexive re-nonnegative definite solution to the quaternion matrix equation AXA∗ = B, where ∗ stands for conjugate transpose. The expression of such solution to the matrix equation is also given. Furthermore, a necessary and sufficient condition is derived for the existence of the general re-nonnegative ...

New definitions of determinant functionals over the quaternion skew field are given in this paper. The inverse matrix over the quaternion skew field is represented by analogues of the classical adjoint matrix. Cramer rule for right and left quaternionic systems of linear equations have been obtained.

Attitude quaternion [1] is the attitude parameterization of choice for spacecraft attitude estimation for several reasons: 1) it is free of singularities, 2) the attitude matrix is quadratic in the quaternion components, and 3) the kinematics equations is bilinear and an analytic solution exists for the propagation. However, the components of the attitude quaternion are not independent of each ...