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Multisensor Attitude Estimation [PDF]
, 2016 This chapter presents a complete development of a complementary filter-based attitude estimation scheme suitable for implementation in a small, low-cost unmanned aerial vehicle. The filter is based on strapdown gyro integration using a matrix exponential
A. Cirillo +4 more
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Global optimal attitude estimation using uncertainty ellipsoids [PDF]
Systems and Control Letters, 2008 A deterministic attitude estimation problem for a rigid body in a potential field, with bounded attitude and angular velocity measurement errors is considered.
Amit K Sanyal +2 more
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Attitude estimation with intermittent measurements
Automatica, 2019zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Soulaimane Berkane +1 more
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SCKF for MAV attitude estimation
2011 International Conference on Machine Learning and Cybernetics, 2011In this paper, a novel quaternion-based attitude estimation algorithm with the square-root cubature Kalman filter (SCKF) is proposed to improve the attitude estimation performance for micro air vehicle (MAV). The SCKF is a kind of new effective method to solve nonlinear state estimation, it can directly deal with nonlinear systems, and the QR ...
Chao Li, Quan-Bo Ge
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Attitude Estimation and Control [PDF]
, 2022 Attitude kinematics, which describes the orientation of three-dimensional shapes, is one of the fundamental properties of objects in a three-dimensional space.
Kim, J.
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Attitude estimation and control of a quadrocopter
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010The research interest in unmanned aerial vehicles (UAV) has grown rapidly over the past decade. UAV applications range from purely scientific over civil to military. Technical advances in sensor and signal processing technologies enable the design of light weight and economic airborne platforms. This paper presents a complete mechatronic design process
Frank Hoffmann 0001 +2 more
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Attitude estimation for indoor navigation and augmented reality with smartphones [PDF]
Pervasive and Mobile Computing, 2018 International audienceWe investigate the precision of attitude estimation algorithms in the particular context of pedestrian navigation with commodity smartphones and their inertial/magnetic sensors.
Thibaud Michel +2 more
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Descriptor approach for attitude estimation
2015 IEEE Conference on Control Applications (CCA), 2015In this paper, a new modeling and filtering approach for rigid body attitude estimation is investigated. In contrast to the current state-of-the art where the process model is driven by gyroscope measurements, we propose an alternative modeling formulation where the process model is fed by the magnetometer measurements.
Aida Makni +3 more
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Unscented Attitude Estimator Based on Dual Attitude Representations
IEEE Transactions on Instrumentation and Measurement, 2015This paper investigates an unscented attitude estimator based on modified Rodriguez parameter (MRP) and quaternion using a linearized attitude representation transformation. When the singularity transformation conditions do not occur, the developed filter can benefit from the MRP representation in terms of decreased calculation burden and improved ...
Kailong Li, Lubin Chang, Baiqing Hu
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Attitude feedback tracking with optimal attitude state estimation
Proceedings of the 2010 American Control Conference, 2010This paper presents an estimator-based attitude tracking control scheme that uses feedback of attitude and angular velocity estimates constructed by an optimal state estimation scheme. The tracking control scheme gives almost global convergence to a desired attitude and angular velocity profile with perfect state feedback.
Nikolaj Nordkvist, Amit K. Sanyal
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