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Estimating Attitude from Vector Observations Using a Genetic Algorithm-Embedded Quaternion Particle Filter 介绍了一种基于四元数粒子滤波的方法

class for work with Quaternion

This diskette (version 1.0) contains demonstration programs and source codes in MATLAB (v.5.2) for algorithms listed in the textbook Global Positioning Systems, Inertial Navigation, and Integration, by M. S. Grewal, Lawrence Weill, and A. P. Andrews, published by John Wiley and Sons, 2000. Contents: ...

Quaternions are hypercomplex numbers (that is generalizations of the complex numbers to higher dimensions than two). For an introduction, refer to the Wikipedia article on Quaternions. Quaternion toolbox for Matlab&reg extends Matlab&reg to allow calculation with matrices of quaternions in almost t ...