Related papers: Covariance Analysis of Attitude and Angular Rate E…

The paper proposes a technique to estimate the angular velocity of a rigid body from vector measurements. Compared to the approaches presented in the literature, it does not use attitude information nor rate gyros as inputs. Instead, vector…

This paper addresses the problem of estimating the attitude and angular velocity of a rigid object by exploiting its second order kinematic model. The approach is particularly useful in cases where angular velocity measurements are not…

The paper proposes a technique to estimate the angular velocity of a rigid body from single vector measurements. Compared to the approaches presented in the literature, it does not use attitude information nor rate gyros as inputs. Instead,…

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…

In this paper we study the problem of finding the best approximation of a real square matrix by a matrix that can be represented as the square of a real, skew-symmetric matrix. This problem is important in the design of robust numerical…

This work provides a theoretical analysis for optimally solving the pose estimation problem using total least squares for vector observations from landmark features, which is central to applications involving simultaneous localization and…

This paper describes a calibration algorithm to simultaneously calibrate a magnetometer and an accelerometer without any information besides the sensors readings. Using a linear sensor model and maximum likelihood cost, the algorithm is…

This letter presents a novel method for estimating the position, velocity, and acceleration of a moving target using range-based measurements. Although most existing studies focus on position and velocity estimation, the framework of this…

Low-cost micro-electromechanical accelerometers are widely used in navigation, robotics, and consumer devices for motion sensing and position estimation. However, their performance is often degraded by bias errors. To eliminate…

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 presents a method for determining spacecraft angular rates using event-based camera sensing. This is achieved by analyzing the temporal distribution of brightness events triggered by the apparent motion of stars. The location and…

Sensor-to-segment calibration is a crucial step in inertial motion tracking. When two segments are connected by a hinge joint, for example in human knee and finger joints as well as in many robotic limbs, then the joint axis vector must be…

Attitude estimation methods typically rely on full vector measurements from inertial sensors such as accelerometers and magnetometers. This paper shows that reliable estimation can also be achieved using only scalar measurements, which…

Inertial sensors based on micro-electromechanical systems (MEMS) technology, such as accelerometers and angular rate sensors, are cost-effective solutions used in inertial navigation systems in a broad spectrum of applications that estimate…

In the present work we develop an algorithm for calibrating MEMS sensors, which accounts for the nonorthogonality of the accelerometers' axis, as well as for the constant bias and scaling errors. We derive an explicit formula for computing…

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…

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…

In order to test gravitation in the Solar System, it is necessary to improve the orbit restitution of interplanetary spacecrafts. The addition of an accelerometer on board is a major step toward this goal because this instrument measures…

This work provides a theoretical framework for the pose estimation problem using total least squares for vector observations from landmark features. First, the optimization framework is formulated with observation vectors extracted from…

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…