in this paper, a finite-time control scheme is presented for stabilization ofthe satellite chaotic attitude around its equilibrium point whenits attitude is confused by a disturbed torque. controllers and settling timeof stabilizaton are obtained, based on the lyapunov stability theoremand finite-time control scheme. this method is satisfied for any initial condition.numerical simulations are ...

This paper describes a quaternion implementation of an Unscented Kalman Filter for attitude estimation on CubeSats using measurements of a sun vector, a magnetic field vector and angular velocity. For faster convergence of the attitude estimate, a SVD-method solving Wahba’s problem has been proposed, which provides an initial attitude estimate. Using unit quaternions provides a singularity free...

In this paper the unit quaternion is used as a substitute for describing the attitude of a camera to overcome the shortcomings of Euler angles on the description and interpolation of orientation, corresponding collinearity equation is then derived and linearized. At the same time the Spherical linear Interpolation (Slerp) of unit quaternion is introduced into the bundle adjustment of three-line...

Precise control of UAV (Unmanned Aerial Vehicle) or MAV (Micro Aerial Vehicle), requires the accurate determination of vehicle orientation. Attitude and heading reference systems (AHRS) are popularly used for vehicle orientation determination. In these systems, Euler angle estimation is more appropriate than quaternion estimation because the accelerometer measurement and magnetometer measuremen...

This paper presents a computationally-fast inverse dynamics model based on unit quaternion orientation representation for use in the generation of unmanned aircraft trajectories when the flight envelope may include all flight path orientations, a necessary attribute for aerobatics or unmanned air-to-air combat vehicles. The model removes the inherent singularities in Euler-angle attitude repres...

The focus of this study is on the attitude estimation of the four-rotor helicopter known as quadrotor. The choice of the algorithm is a complementary filter based on quaternions. For the four-rotor helicopter system has nonlinear, strong coupling, multi-variable features, it is difficult to obtain the accurate attitude values, and in order to solve this problem a quaternion-based complementary ...

Accurate and real-time tracking of the orientation or attitude of rigid bodies has traditional applications in robotics, aerospace, underwater vehicles, human body motion capture, etc. Towards human body motion capture, especially wearable devices, the use of a longer time has always been a challenge for several weeks or several months continuously, so a low-cost chip and a low computational co...