Quaternion Tilt-Twist Decomposition for Attitude Control
Quaternion Tilt-Twist Decomposition for Attitude Control: a task in LegoFlow-SWE (Harbor dataset). Tail‑sitter and similar VTOL vehicles exhibit very different dynamic behavior for rotations around the body z‑axis (yaw/twist) compared to rotations that tilt the body away from the equilibrium…
The task
Tail‑sitter and similar VTOL vehicles exhibit very different dynamic behavior for rotations around the body **z‑axis** (yaw/twist) compared to rotations that tilt the body away from the equilibrium orientation (pitch and roll). To improve attitude control, the attitude error quaternion must be decomposed into a…
Part of Lego-X/LegoFlow-SWE.