A geometric framework for rigid body attitude estimation

DOI10.1016/J.AUTOMATICA.2021.109494zbMath1461.93091OpenAlexW3133737805MaRDI QIDQ2021286

Yujendra Bharathi Mitikiri, Kamran Mohseni

Publication date: 26 April 2021

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2021.109494

zbMATH Keywords

nonlinear filtersquaternionsgeometric methodssensor fusionattitude estimation

Mathematics Subject Classification ID

Filtering in stochastic control theory (93E11) Geometric methods (93B27)

Uses Software

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Cites Work

• Rigid body pose estimation based on the Lagrange-d'Alembert principle
• Barrier Lyapunov functions for the control of output-constrained nonlinear systems
• Attitude estimation by multiplicative exogenous Kalman filter
• A GES attitude observer with single vector observations
• Attitude estimation with intermittent measurements
• Partial attitude and rate gyro bias estimation: observability analysis, filter design, and performance evaluation
• Three-axis attitude determination from vector observations
• REQUEST - A recursive QUEST algorithm for sequential attitude determination
• Nonlinear Complementary Filters on the Special Orthogonal Group
• Attitude Estimation Using Biased Gyro and Vector Measurements With Time-Varying Reference Vectors
• Analysis of Non-Linear Attitude Observers for Time-Varying Reference Measurements

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