Descriptor approach for attitude estimation

In this paper, a new modeling and filtering approach for rigid body attitude estimation is investigated. In contrast to the current state-of-the art where the process model is driven by gyroscope measurements, we propose an alternative modeling formulation where the process model is fed by the magnetometer measurements. The resulting dynamic model takes the form of a descriptor system, also known as singular system. Based on this model and using the quaternion formalism we derive a recursive filter whose performance is validated through numerical and experimental tests.