SO(3)-constrained Kalman filtering with application to attitude estimation

This paper presents a new continuous-time Kalman-like filter directly on SO(3) for attitude estimation of a vehicle with vector and gyro measurements. The presented filter is inspired by a recently developed norm-constrained Kalman-like filter, which has successfully been applied to the attitude estimation problem when a quaternion parameterization is used. The filter is compared with a continuous-time multiplicative extended Kalman filter, which is also formulated directly on SO(3).