@article{markleyAttitudeErrorRepresentations2003,
  title = {Attitude {{Error Representations}} for {{Kalman Filtering}}},
  volume = {26},
  issn = {0731-5090},
  doi = {10.2514/2.5048},
  abstract = {The quaternion has the lowest dimensionality possible for a globally nonsingular attitude representation. The quaternion must obey a unit norm constraint, though, which has led to the development of an extended Kalman filter using a quaternion for the global attitude estimate and a three-component representation for attitude errors. Various attitude error representations are considered for this multiplicative extended Kalman filter, which incorporates a nonlinear, norm preserving quaternion reset operation. Second-order bias corrections are computed in this framework.},
  number = {2},
  journaltitle = {Journal of Guidance, Control, and Dynamics},
  date = {2003},
  pages = {311--317},
  author = {Markley, F. Landis},
  file = {/home/dimitri/Nextcloud/Zotero/storage/8NP42XDP/Markley - 2003 - Attitude Error Representations for Kalman Filtering.pdf}
}

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