Marko Kasalo

Attitude and 6-DOF Rigid Motion Reconstruction of Quadrotor Aerial Vehicle Based on Quaternions and Lie Group Algorithms

The nonlinear nature of quadrotor dynamics requires high-fidelity reconstruction of vehicle position and attitude. In order to mitigate singularities associated with global three-parameter representations—such as Euler angles—the quadrotor attitude is conventionally parameterized via unit quaternions and reconstructed...