I'm adapting a KF orientation filter that represents the orientation as quaternion, and uses a 3x3 covariance matrix. Would someone know what 3x3 covariance represents in the case of a quaternion, and how that representation would relate to euler angles ?

  • $\begingroup$ Could you post or link to the code? If I remember correctly, one of the quaternions is a normalizer. You might be looking at something like what they discuss in this question (see the answer by vpozdyayev): $\endgroup$ – combo Mar 8 '17 at 19:08
  • $\begingroup$ How are you using a 3x3 covariance matrix with a quaternion? Why not just use the Madgwick filter? Accuracy meets/exceeds the Kalman filter, output is in quaternion format. Already developed, and free source code in C/C#/Matlab format. $\endgroup$ – Chuck Mar 8 '17 at 19:50
  • $\begingroup$ I'm using an already-developed filter, just trying to understand its error representation github.com/rock-slam/slam-quater_ikf $\endgroup$ – sylvain.joyeux Mar 13 '17 at 19:51

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