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eess.SY2026
Relative Pose-Velocity Estimation Using Dual IMU Measurements and Relative Position Sensing
Alessandro Melis, Tarek Bouazza, Soulaimane Berkane +1
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…
eess.SY2026
Complementary Filtering on SO(3) for Attitude Estimation with Scalar Measurements
Alessandro Melis, Soulaimane Berkane, Tarek Hamel +1
This paper proposes a complementary filter on SO(3) for attitude estimation from scalar measurements corresponding to projections of known inertial vectors onto body-frame sensing…
eess.SY2026
Scalar-Measurement Attitude Estimation on with Bias Compensation
Alessandro Melis, Tarek Bouazza, Hassan Alnahhal +3
Attitude estimation methods typically rely on full vector measurements from inertial sensors such as accelerometers and magnetometers. This paper shows that reliable estimation can…