This paper presents a new filter estimating quaternion using inertial and magnetic sensors. Using a reference coordinate system multiplicative quaternion error representation and a constrained structure filter gain, the proposed filter has a separation property, where the magnetic sensor output does not affect pitch and roll angle estimation. Furthermore, the proposed filter gain can be computed just from five scalar equations. Through simulation, the separation property of the proposed filter is verified.

中文翻译：

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分离惯性和磁传感器效应的简单结构四元数估计器

本文提出了一种使用惯性和磁传感器估计四元数的新滤波器。使用参考坐标系乘法四元数误差表示和约束结构滤波器增益，所提出的滤波器具有分离特性，其中磁传感器输出不影响俯仰和滚转角估计。此外，建议的滤波器增益可以仅从五个标量方程计算。通过仿真，验证了所提出的滤波器的分离特性。