I am working on realising the self-navigation of a vehicle.
I have already written an extended Kalman filter with a state vector using position, velocity, Euler angle, acceleration, and angular velocity. However, I have recently read alternative papers using quaternions as a whole to represent the orientation of the body.
Are there any differences between using quaternions and using acceleration and angular velocity individually in the state vector? If there are, what is the advantage of doing that?