6 papers
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…
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…
A General Nonlinear Observer Design for Inertial Navigation Systems with Almost Global Stability Guarantees
Sifeddine Benahmed, Tarek Hamel, Soulaimane Berkane
This paper studies nonlinear observer design for rigid-body extended pose estimation using inertial measurements and generic exteroceptive sensing. The estimation problem is formul…
State Estimation Using Single Body-Frame Bearing Measurements
Sifeddine Benahmed, Soulaimane Berkane
This paper addresses the problem of simultaneous estimation of the position, linear velocity and orientation of a rigid body using single bearing measurements. We introduce a Ricca…
Stability analysis of optimal control problems with time-dependent costs
Sifeddine Benahmed, Romain Postoyan, Mathieu Granzotto +3
We present stability conditions for deterministic time-varying nonlinear discrete-time systems whose inputs aim to minimize an infinite-horizon time-dependent cost. Global asymptot…