User-worn sensing units composed of inertial and magnetic sensors are becoming
increasingly popular in various domains, including biomedical engineering, robotics, virtual …

ATTITUDE estimation involves a two-part process: 1) estimation of a vehicle's orientation
from body measurements and known reference observations, such as line-of-sight …

This paper presents a novel Kalman filter (KF) for estimating the attitude-quaternion as well
as gyro random drifts from vector measurements. Employing a special manipulation on the …

Sensor fault detection and isolation (SFDI) is a fundamental topic in unmanned aerial
vehicle (UAV) development, where attitude estimation plays a key role in flight control …

The integrated strapdown inertial navigation system/global position system (SINS/GPS) is a
widely used procedure for position, velocity and attitude determination. There are two …

THE spacecraft attitude estimation problem is estimating the spacecraft's orientation from
noisy measurement data and known reference observations [1]. In general, parameters used …

The problem of estimating the state vector of a dynamical system from vector measurements
when it is known that the state vector satisfies norm equality constraints is considered. The …

In recent years the use of Unmanned Aerial Vehicles (UAVs) has considerably grown in the
civil sectors, due to their high flexibility of use. Currently, two important key points are making …

This paper provides a survey of modern nonlinear filtering methods for attitude estimation.
Early applications relied mostly on the extended Kalman filter for attitude estimation. Since …

This paper focuses on a stochastic formulation of Bayesian attitude estimation on the special
orthogonal group. In particular, an exponential probability density model for random …