ABSTRACT
The rigid body attitude and orientation estimation problems are highly motivated by various applications. For example, in rehabilitation and biomedical engineering (Zhou et al. 2006), the attitude is used in stroke rehabilitation exercises to record patients’ movements in order to provide adequate feedback for the therapist. In human motion tracking and biomechanics (O’Donovan et al. 2007), the attitude serves as a tool for physicians to perform long-term monitoring of the patients and to study human movements during everyday activities. Moreover, attitude estimation is extensively used in tracking handheld microsurgical instruments (Ang et al. 2004). In aerial and marine vehicles (Mahony et al. 2008), the attitude is used to achieve a stable controller.
