4 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…
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…
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…