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Kalman filtration for rotation

asked 2013-08-05 02:18:54 -0500

tenta4 gravatar image

updated 2013-08-05 02:32:41 -0500

I want to use Kalman filter for rotation. I have rotation matrix, but i can't use filtration for it, because all it's elements interdependent. That's why i try to convert matrix to euler angles and to filter each of compoments.

My questions:

  • is this filtering of euler angles will be right? (is all components x, y, z independent? I think no) If yes, how to avoid gimbal lock during filtration?

  • is there a better way to filter the rotation?

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answered 2013-08-05 02:47:35 -0500

Siegfried gravatar image

Hi, to avoid gimbal lock you can use Quaternions instead of euler angles. For example, Quaternions are widely used in robotics to represent rotations.

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Thank you, i know this, but quaternion components also interdependent. I found this article (http://www.malcolmdshuster.com/pub_1993f_c_qnorm_mds.pdf), maybe it will be helpful for me but i hoped to find the easyest solution

tenta4 gravatar imagetenta4 ( 2013-08-05 02:52:33 -0500 )edit
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Asked: 2013-08-05 02:18:54 -0500

Seen: 958 times

Last updated: Aug 05 '13