6 papers · 1 filter
A Nonlinear Observer for Air-Velocity and Attitude Estimation Using Pitot and Barometric Measurements
Melone Nyoba Tchonkeu, Soulaimane Berkane, Tarek Hamel
This paper addresses the problem of estimating air velocity and full attitude for unmanned aerial vehicles (UAVs) in GNSS-denied environments using minimal onboard sensing-an inter…
Vision-Aided Relative State Estimation for Approach and Landing on a Moving Platform with Inertial Measurements
Tarek Bouazza, Alessandro Melis, Soulaimane Berkane +2
This paper tackles the problem of estimating the relative position, orientation, and velocity between a UAV and a planar platform undergoing arbitrary 3D motion during approach and…
Barometer-Aided Attitude Estimation
Méloné Nyoba Tchonkeu, Soulaimane Berkane, Tarek Hamel
Accurate and robust attitude estimation is a central challenge for autonomous vehicles operating in GNSS-denied or highly dynamic environments. In such cases, Inertial Measurement…
Observer Design for Optical Flow-Based Visual-Inertial Odometry with Almost-Global Convergence
Tarek Bouazza, Soulaimane Berkane, Minh-Duc Hua +1
This paper presents a novel cascaded observer architecture that combines optical flow and IMU measurements to perform continuous monocular visual-inertial odometry (VIO). The propo…
Attitude Estimation Using Scalar Measurements
Hassan Alnahhal, Sifeddine Benahmed, Soulaimane Berkane +1
This paper revisits the problem of orientation estimation for rigid bodies through a novel framework based on scalar measurements. Unlike traditional vector-based methods, the prop…
A Geometric Approach For Pose and Velocity Estimation Using IMU and Inertial/Body-Frame Measurements
Sifeddine Benahmed, Soulaimane Berkane, Tarek Hamel
This paper addresses accurate pose estimation (position, velocity, and orientation) for a rigid body using a combination of generic inertial-frame and/or body-frame measurements al…