Related papers: Attitude Observation for Second Order Attitude Kin…
Two nonlinear observers for velocity-aided attitude estimation, relying on gyrometers, accelerometers, magnetometers, and velocity measured in the body-fixed frame, are proposed. As opposed to state-of-the-art body-fixed velocity-aided…
This paper studies a rigid body attitude tracking control problem with attitude measurements only, when angular velocity measurements are not available. An angular velocity observer is constructed such that the estimated angular velocity is…
This paper considers the problem of nonlinear attitude estimation for a rigid body system using intermittent and multi-rate inertial vector measurements as well as continuous (high-rate) angular velocity measurements. Two types of hybrid…
Rigid body systems usually consider measurements of the pose of the body using onboard cameras/LiDAR systems, that of linear acceleration using an accelerometer and of angular velocity using an IMU. However, the measurements of the linear…
This paper addresses the problem of estimating the attitude of a rigid body, which is subject to high accelerations and equipped with inertial measurement unit (IMU) and sensors providing the body velocity (expressed in the reference frame…
The problem of estimating the angular speed of a solid body from attitude measurements is addressed. To solve this problem, we propose an observer whose dynamics are not constrained to evolve on any specific manifold. This drastically…
Attitude estimation is often a prerequisite for control of the attitude or orientation of mechanical systems. Current attitude estimation algorithms use coordinate representations for the group of rigid body orientations. All coordinate…
We propose a simple nonlinear observer for estimating the attitude and velocity of a rigid body from the measurements of specific acceleration, angular velocity, magnetic field (in body axes), and linear velocity (in body axes). It is…
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…
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…
This paper provides new results for a tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid complexities and…
A continuous solution is proposed to the problem of uniform global exponential estimation of the angular velocity for rigid bodies by means of direct attitude measurements. The proposed observer is designed on…
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…
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…
This paper investigates the problem of continuous attitude estimation on $SO(3)$ using continuous angular velocity and linear acceleration measurements as well as intermittent linear velocity and inertial vector measurements. First, we…
We propose an attitude and gyro-bias estimation scheme for accelerated rigid body systems using an inertial measurement unit (IMU) and a global positioning system (GPS). The proposed scheme allows to obtain attitude estimates directly on…
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…
This paper revisits the problem of orientation estimation for rigid bodies through a novel framework based on scalar measurements. Unlike traditional vector-based methods, the proposed approach enables selective utilization of only the…
Accurate and robust attitude estimation is a central challenge for autonomous vehicles operating in GNSS-denied or highly dynamic environments. In such cases, Inertial Measurement Units (IMUs) alone are insufficient for reliable tilt…
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…