Analysis of Quaternions Components in QUEST Algorithm - The Duality Problem

Leandro José Evilásio Campos¹; Edgar Campos Furtado¹

¹ Universidade Federal de São João del-Rei

doi:10.20906/CPS/CILAMCE2017-0899

Resumo

The attitude estimation of objects in space is an important step in many contexts. Different algorithms were proposed in literature addressing this estimation, and problems related with computational implementations of them. In this context, some algorithms are based in quaternion algebra to represent rotations. In this work, the problem of distinct quaternions representing the same attitude, presented by QUEST algorithm, is addressed. In fact, it is analyzed each quaternion component, and it is proposed a solution to this duality problem. The solution presented not provides loss of information in the attitude estimation.

Palavras-chave: Attitude; QUEST algorithm; Quaternion