Lie group quaternion attitude-reconstruction of quadrotor UAV

DOI10.1007/978-3-031-38299-4_1OpenAlexW4385417299MaRDI QIDQ6138208

Marko Kasalo, Dario Zlatar, Marijan Andrić, Zdravko Terze

Publication date: 16 January 2024

Published in: Lecture Notes in Computer Science (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/978-3-031-38299-4_1

zbMATH Keywords

quadrotor unmanned aerial vehicleattitude/position update algorithmlinearized quaternion differential equationunitary quaternion norm

Mathematics Subject Classification ID

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Matrices over special rings (quaternions, finite fields, etc.) (15B33) Robot dynamics and control of rigid bodies (70E60) Symmetries, Lie group and Lie algebra methods for problems in mechanics (70G65)

Cites Work

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• Rotation averaging
• Lie group methods for rigid body dynamics and time integration on manifolds
• Lie-group integration method for constrained multibody systems in state space
• Singularity-free time integration of rotational quaternions using non-redundant ordinary differential equations

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