Acceleration Handling in a Time-Varying Kalman Attitude Estimator

The time-varying Kalman attitude estimator (TVKAE) previously developed by the authors has a state vector made by some measurable physical quantities, including acceleration. A second published version of this estimator, adapted to low acceleration motion, includes a weighting parameter for acceleration that can be unity or zero. The first value preserves the original algorithm, and the second leads to a version of the estimator adapted to low accelerations. This work analyzes the operation and performance of the TVKAE when varying this weight.