A Survey of Attitude Error Representations
Several attitude error representations are developed for describing the tracking orien- tation error kinematics. Compact forms of attitude error equation are derived for each case. The attitude error is initially defined as the quaternion (rotation) error between the current and the estimated orientation. The nonlinear kinematic models are valid for arbitrarily large relative rotations and rotation rates. These modes have been developed for supporting the development of nonlinear spacecraft maneuver formulations. All of the kinematic formulations assume that a reference state has been defined. These results are expected to be broadly useful for generalizing extended Kalman filtering formulations. The benefits of paper are discussed. 2012 by Ahmad Bani Younes.