Related papers: Angular velocity nonlinear observer from single ve…
There are several attitude estimation algorithms in existence, all of which use local coordinate representations for the group of rigid body orientations. All local coordinate representations of the group of orientations have associated…
This paper defines an angular velocity for time-dependent functions on the sphere, and applies it to gravitational waveforms from compact binaries. Because it is geometrically meaningful and has a clear physical motivation, the angular…
In this paper, we propose a new approach to the attitude control of quadrotors, by which angular velocity measurements or a model-based observer reconstructing the angular velocity are not needed. The proposed approach is based on recent…
In this paper, we design a nonlinear observer to estimate the inertial pose and the velocity of a free-floating non-cooperative satellite (Target) using only relative pose measurements. In the context of control design for orbital robotic…
In this work a method for using accelerometers for the determination of angular velocity and acceleration is presented. Minimum sensor requirements and insights into how an array of accelerometers can be configured to maximize estimator…
The attitude of a rigid body evolves on the three-dimensional special orthogonal group, and it is often estimated by measuring reference directions, such as gravity or magnetic field, using an onboard sensor. As a single direction…
The rigid-body attitude tracking using vector and biased gyro measurements with unknown inertia matrix is studied in this note. First, a gyro-bias observer with global exponential stability is designed. Then, an attitude tracking controller…
This paper addresses the problem of simultaneous estimation of the position, linear velocity and orientation of a rigid body using single bearing measurements. We introduce a Riccati observer-based estimator that fuses measurements from a…
We begin with a scenario that involves point-like observers starting at t=0 from the origin O of an inertial reference frame. They move with all possible proper accelerations in the positive direction of the OX axis. Equipped with light…
This paper considers the problem of simultaneous estimation of the attitude, position and linear velocity for vehicles navigating in a three-dimensional space. We propose two types of hybrid nonlinear observers using continuous angular…
This work addresses the problem of designing an equivariant observer for a first order dynamical system on the unit-sphere. Building upon the established case of unit bearing vector dynamics with angular velocity inputs, we introduce an…
Stable estimation of rigid body pose and velocities from noisy measurements, without any knowledge of the dynamics model, is treated using the Lagrange-d'Alembert principle from variational mechanics. With body-fixed optical and inertial…
We study the convergence of a discrete Luenberger observer for the barotropic Euler equations in one dimension, for measurements of the velocity only. We use a mixed finite element method in space and implicit Euler integration in time. We…
Generally, the vortex structures should be independent of the observers who are moving, especially when their coordinates are non-inertial, which may result in confusions in communications between researchers. The property that not being…
The rigid body attitude estimation problem is treated using the discrete-time Lagrange-d'Alembert principle. Three different possibilities are considered for the multi-rate relation between angular velocity measurements and direction vector…
Accurate estimation of the relative attitude and angular velocity between two rigid bodies is fundamental in aerospace applications such as spacecraft rendezvous and docking. In these scenarios, a chaser vehicle must determine the…
A common problem in physics and engineering is determination of the orientation of an object given its angular velocity. When the direction of the angular velocity changes in time, this is a nontrivial problem involving coupled differential…
The inertia tensor is an important parameter in many engineering fields, but measuring it can be cumbersome and involve multiple experiments or accurate and expensive equipment. We propose a method to measure the moment of inertia tensor of…
The control task of tracking a reference pointing direction (the attitude about the pointing direction is irrelevant) while obtaining a desired angular velocity (PDAV) around the pointing direction using geometric techniques is addressed…
Euler's equation relates the change in angular momentum of a rigid body to the applied torque. This paper fills a gap in the literature by using Lagrangian dynamics to derive Euler's equation in terms of generalized coordinates. This is…