Particle Filtering for Attitude Estimation Using a Minimal Local-Error   Representation: A Revisit
  In this note, we have revisited the previously published paper "Particle Filtering for Attitude Estimation Using a Minimal Local-Error Representation". In the revisit, we point out that the quaternion particle filtering based on the local/global representation structure has not made full use of the advantage of the particle filtering in terms of accuracy and robustness. Moreover, a normalized quaternion determining procedure based on the minimum mean-square error approach has been investigated into the quaternion-based particle filtering to obtain the fiducial quaternion for the transformation between quaternion and modified Rodrigues parameter. The modification investigated in this note is expected to make the quaternion particle filtering based on the local/global representation structure more strict. 
Lubin Chang
cs.RO