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math.OC2016★ 5 cited
A global exponential observer for velocity-aided attitude estimation
Philippe Martin, Ioannis Sarras, Minh-Duc Hua +1
We propose a simple nonlinear observer for estimating the attitude and velocity of a rigid body from the measurements of specific acceleration, angular velocity, magnetic field (in…
math.OC2014★ 1 cited
Velocity-aided Attitude Estimation for Accelerated Rigid Bodies
Minh-Duc Hua, Philippe Martin, Tarek Hamel
Two nonlinear observers for velocity-aided attitude estimation, relying on gyrometers, accelerometers, magnetometers, and velocity measured in the body-fixed frame, are proposed. A…