相关论文: Global Attitude Estimation using Single Direction …

This paper addresses the problem of estimating the position of an object moving in $R^n$ from direction and velocity measurements. After addressing observability issues associated with this problem, a nonlinear observer is designed so as to…

This paper presents an integrated model-learning predictive control scheme for spacecraft orbit-attitude station-keeping in the vicinity of asteroids. The orbiting probe relies on optical and laser navigation while attitude measurements are…

This paper considers the attitude determination problem based on the global navigation satellite system (GNSS) and fifth-generation (5G) measurement fusion to address the shortcomings of standalone GNSS and 5G techniques in deep urban…

A global navigation satellite system (GNSS) is a sensor that can acquire 3D position and velocity in an earth-fixed coordinate system and is widely used for outdoor position estimation of robots and vehicles. Various GNSS/inertial…

We propose a novel method for estimating the global rotations of the cameras independently of their positions and the scene structure. When two calibrated cameras observe five or more of the same points, their relative rotation can be…

This paper presents hybrid attitude and gyro-bias observers designed directly on the Special Orthogonal group SO(3). The proposed hybrid observers, enjoying global exponential stability, rely on a hysteresis-based switching between…

This paper investigates the problem of attitude and air velocity estimation for fixed-wing unmanned aerial vehicles (UAVs) using IMU measurements and at least one Pitot tube measurement, with almost global asymptotic stability (AGAS)…

With the introduction of the laterally bounded forces, the tilt-rotor gains more flexibility in the controller design. Typical feedback linearization methods utilize all the inputs in controlling this vehicle; the magnitudes as well as the…

In actual implementations of magnetic control laws for spacecraft attitude stabilization, the time in which Earth magnetic field is measured must be separated from the time in which magnetic dipole moment is generated. The latter separation…

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…

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 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 presents a new geometric adaptive control system with state inequality constraints for the attitude dynamics of a rigid body. The control system is designed such that the desired attitude is asymptotically stabilized, while the…

This paper addresses the problem of estimating the relative pose (position and orientation) and velocity of a vehicle with respect to a moving target, where both are equipped with Inertial Measurement Units (IMUs), assuming the availability…

This paper presents a novel approach to the problem of almost global attitude stabilization. The reduced attitude is steered along a geodesic path on the n-sphere. Meanwhile, the full attitude is stabilized on SO(n). This action,…

It is customary to perform analysis of the Earth's rotation in two steps: first, to present results of estimation of the Earth orientation parameters in the form of time series based on a simplified model of variations of the Earth's…

This paper presents a novel Lagrangian approach to attitude tracking for rigid spacecraft using unit quaternions, where the motion equations of a spacecraft are described by a four degrees of freedom Lagrangian dynamics subject to a…

This paper presents an orbit estimation using non-simultaneous horizon detector measurements in the presence of uncertainties in the celestial body rotational velocity and its geometrical characteristics. The celestial body is modelled as a…

The attitude stabilization of a charged rigid spacecraft in Low Earth Orbit (LEO) using torques due to Lorentz force in pitch and roll directions is considered. A spacecraft that generates an electrostatic charge on its surface in the Earth…

The global attitude synchronization problem is studied for networked rigid bodies under directed topologies. To avoid the asynchronous pitfall where only vector parts converge to some identical value but scalar parts do not, multiplicative…