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Quaternion-based filtering for gyroless attitude estimation without an attitude dynamics model

Zhang S., Xing F., Sun T., You Z.

Metrology and Measurement Systems

2018

Vol. 25, nr 3

631--643

Conventionally, the filtering technique for attitude estimation is performed using gyros or attitude dynamics models. In order to extend the application range of an attitude filter, this paper proposes a quaternion-based filtering framework for gyroless attitude estimation without an attitude dynamics model. The attitude estimation system is established based on a quaternion kinematic equation and vector observation models. The angular velocity in the system is determined through observation vectors from attitude sensors and the statistical properties of the angular velocity error are analysed. A Kalman filter is applied to estimate the attitude error such that the effect from the angular velocity error is compensated with its statistical properties at each sampling moment. A numerical simulation example is presented to illustrate the performance of the proposed algorithm.

Synthesis, Crystal Structures and Antibacterial Activities of a Pair of Isostructural Dinuclear Schiff Base Nickel(II) and Copper(II) Complexes

Sun Y., Kong D., Yang G., You Z.

Polish Journal of Chemistry

2006

Vol. 80, nr 9

1457-1463

Two novel dinuclear Schiff base complexes, [Ni2L2(NCS)2] (1) and [Cu2L2(NCS)2] (2), where L = 2-[(2-dimethylaminoethylimino)methyl]phenolate, have been synthesized and characterized by elemental analyses, IR, and single crystal X-ray diffraction. They are structurally similar. Each of the two metal ions of the complex is coordinated by two nitrogen and two oxygen atoms in the basal plane of a distorted square pyramid and by one nitrogen atom in its apex. The oxygen atoms belong to two Schiff base ligands and form bridges between two metal ions, while the nitrogen atoms of the basal plane belong to one ligand coordinated to a given metal atom. The apex nitrogen is that of the thiocyanate anion. The Schiff base and the two complexes showed effective antibacterial activities. It is noteworthy that the two complexes have stronger antibacterial activities than that of the corresponding Schiff base ligand.