Minimum-energy filtering for attitude estimation

In this work, we study minimum-energy filtering for attitude kinematics with vectorial measurements using Mortensen's approach. The exact form of a minimum-energy attitude observer is derived and is shown to depend on the Hessian of the value function of an associated optimal control problem. A suitably chosen matrix representation of the Hessian operator leads to a Riccati equation that approximates a minimum-energy attitude filter. An extended version of the proposed approximate filter is included for a situation where there is slowly time-varying bias in the gyro measurements. A unit quaternion version of the proposed filter is derived and shown to outperform the multiplicative extended Kalman filter (MEKF) for situations with large initialization errors or large measurement errors.