Pose estimation of a low altitude aerial vehicle using quaternion theory and kalman filter

The aim of this paper is to estimate the pose (attitude) of a low altitude aerial vehicle using quaternion theory and Kalman filter method. Initially using quaternion theory, the quaternion rates are determined to compute the vector quaternion. This vector quaternion is used to determine the quaternion transition matrix. So, after finding out these values the state variable assignment is written according to the characteristic movement of an aerial vehicle. While framing the equation, the altitude of an aerial vehicle is taken considerably low and the fourteen variables are considered to frame this equation namely linear translation in each axis, linear velocities in each axis, three directions, the deceleration of the vehicle, rotation quaternion in each axis, rotation velocity in each axis. Initially, the values are assumed from INS and the calculations are done. Thereafter the Kalman filter method is used to estimate the state function in order to determine the position, velocity and position of the aerial vehicle.