Solà 2017 Quaternion kinematics for ESKF

Link: http://www.iri.upc.edu/people/jsola/JoanSola/objectes/notes/kinematics.pdf
Author: Joan Solà

Abstract

• Primer on quaternion/rotation group math
• Math for error state Kalman filters using IMUs

Contents/Chapters

1. Unit quaternions , double cover
2. Rotations, s. also  SO(3) 3D rotation group
3. Quaternion conventions
4. Perturbations, derivatives, integrals
5. Error-State Kalman Filter for IMU-driven systems
   • Variables in ESKF
   • IMU measurement model
   • IMU motion model
     • The initial gravity vector/orientation for the IMU ESKF
   • IMU nominal-state and error-state kinematics
   • IMU ESKF prediction equations
6. Fusing IMU + other sensors
7. ESKF using global angular errors