Related papers: A Critical Comparison on Attitude Estimation: From…
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…
Accurate state estimation using low-cost MEMS (Micro Electro- Mechanical Systems) sensors present on Commercial-off-the-shelf (COTS) drones is a challenging problem. Most UAV systems use a combination of a gyroscope, an accelerometer, and a…
This paper proposes new algorithms for attitude estimation and control based on fused inertial vector measurements using linear complementary filters principle. First, n-order direct and passive complementary filters combined with TRIAD…
Stochastic filters for on-line state estimation are a core technology for autonomous systems. The performance of such filters is one of the key limiting factors to a system's capability. Both asymptotic behavior (e.g.,~for regular…
In this paper, we consider the collaborative attitude estimation problem for a multi-agent system. The agents are equipped with sensors that provide directional measurements and relative attitude measurements. We present a bottom-up…
Attitude estimation for small, low-cost unmanned aerial vehicles is often achieved using a relatively simple complementary filter that combines onboard accelerometers, gyroscopes, and magnetometer sensing. This paper explores the limits of…
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 proposes a novel geometric nonlinear filter for attitude and bias estimation on the Special Orthogonal Group $SO(3)$ using matrix measurements. The structure of the proposed filter is similar to that of the continuous-time…
Among algorithms used for sensor fusion for attitude estimation in unmanned aerial vehicles, the Extended Kalman Filter (EKF) is the most commonly used for estimation. In this paper, we propose a new version of H2 estimation called extended…
This paper presents theory, application, and comparisons of the feedback particle filter (FPF) algorithm for the problem of attitude estimation. The paper builds upon our recent work on the exact FPF solution of the continuous-time…
This note presents a novel Bayesian attitude estimator with the matrix Fisher distribution on the special orthogonal group, which can smoothly accommodate both unit and non-unit vector measurements. The posterior attitude distribution is…
This paper formulates the pose estimation problem as nonlinear stochastic filter kinematics evolved directly on the Special Euclidean Group SE(3). Proposed filter guarantees that the errors present in position and Rodriguez vector estimates…
Climate change poses significant challenges for accurate climate modeling due to the complexity and variability of non-Gaussian climate systems. To address the complexities of non-Gaussian systems in climate modeling, this thesis proposes a…
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 proposes two novel nonlinear attitude filters evolved directly on the Special Orthogonal Group SO(3) able to ensure prescribed measures of transient and steady-state performance. The tracking performance of the normalized…
Attitude estimation is crucial in aerospace engineering, robotics, and virtual reality applications, but faces difficulties due to nonlinear system dynamics and sensor limitations. This paper addresses the challenge of attitude estimation…
This paper concerns the estimation problem of attitude, position, and linear velocity of a rigid-body autonomously navigating with six degrees of freedom (6 DoF). The navigation dynamics are highly nonlinear and are modeled on the matrix…
Successful control of a rigid-body rotating in three dimensional space requires accurate estimation of its attitude. The attitude dynamics are highly nonlinear and are posed on the Special Orthogonal Group $SO(3)$. In addition, measurements…
State estimation in control and systems engineering traditionally requires extensive manual system identification or data-collection effort. However, transformer-based foundation models in other domains have reduced data requirements by…
Accurate estimation of noise parameters is critical for optimal filter performance, especially in systems where true noise parameter values are unknown or time-varying. This article presents a quaternion left-invariant extended Kalman…