LABORATORY EXPERIMENTS FOR POSITION AND ATTITUDE ESTIMATION USING THE CAYLEY ATTITUDE TECHNIQUE

Single point attitude determination is the problem of estimating the instantaneous attitude of a rigid body from a collection of vector observations taken at a single moment in time. A new attitude estimation technique uses a generalized Cayley transform and finds algorithms to optimally solve the attitude estimation problem for a wide family of attitude parameters. The four dimensional Cayley attitude technique provides an elegant solution to the single point position and attitude estimation problem. Robustness of this technique in the presence of noise is tested through experiments at the Land, Air, and Space Robotics Laboratory.

LABORATORY EXPERIMENTS FOR POSITION AND ATTITUDE ESTIMATION USING THE CAYLEY ATTITUDE TECHNIQUE Conference Paper