This paper concerns the problem of attitude determination and estimation. The early applications considered algebraic methods of attitude determination. Attitude determination algorithms were supplanted by the Gaussian attitude estimation filters (which continue to be widely used in commercial applications). However, the sensitivity of the Gaussian attitude filter to the measurement noise prompted the introduction of the nonlinear attitude filters which account for the nonlinear nature of the attitude dynamics problem and allow for a simpler filter derivation. This paper presents a survey of several types of attitude determination and estimation algorithms. Each category is detailed and illustrated with literature examples in both continuous and discrete form. A comparison between these algorithms is demonstrated in terms of transient and steady-state error through simulation results. The comparison is supplemented by statistical analysis of the error-related mean, infinity norm, and standard deviation of each algorithm in the steady-state. Keywords: Comparative Study, Attitude, Determination, Estimation, Filter, Adaptive Filter, Gaussian Filter, Nonlinear Filter, Overview, Review, Rodrigues Vector, Special Orthogonal Group, Unit-quaternion, Angle-axis, Determinstic, Stochastic, Continuous, Discrete, Multiplicative extended kalman filter, KF, EKF, MEKF, white noise, colored noise.
Convexity Analysis of Optimization Framework of Attitude Determination from Vector Observations
University of Electronic Science and Technology of China（电子科技大学）；State Key Laboratory of Geodesy and Earth’s Dynamics, Institute of Geodesy and Geophysics, Chinese Academy of Sciences（中国科学院测量与地球物理研究所大地测量与地球动力学国家重点实验室）
Robust Orientation Estimation with TRIAD-aided Manifold EKF
Centre for Systems and Control, Indian Institute of Technology Bombay（系统与控制中心，印度理工学院班加罗尔）；Department of Computer Science and Engineering, Indian Institute of Technology Bombay（计算机科学与工程系，印度理工学院班加罗尔）
On the Optimized Use of Non-Orthonormality Constraints for the Quasi-Static INS Alignment of Autonomous Underwater and Surface Vehicles
Federal University of Lavras（拉夫拉斯联邦大学）；University of Haifa（海法大学）；Fluminense Federal Institute of Education, Science and Technology（弗卢米嫩塞联邦教育科学技术学院）；Federal Institute of Education, Science and Technology of Amazonas（亚马逊联邦教育科学技术学院）；University of São Paulo（圣保罗大学）；Zoox, Inc.（Zoox公司）
