Technological developments over the past two decades have resulted in the development of
more accurate and lightweight low-cost magnetic and inertial measurement units (MIMUs) …

We give a universal analytical solution to the hand-eye calibration problem AX= XB with
known matrices A and B and unknown variable X, all in the set of special Euclidean group …

Focusing on generalized sensor combinations, this paper deals with the attitude estimation
problem using a linear complementary filter (CF). The quaternion observation model is …

This paper proposes a novel complete navigation system for autonomous flight of small
unmanned aerial vehicles (UAVs) in GPS-denied environments. The hardware platform …

This book discusses all spacecraft attitude control-related topics: spacecraft (including
attitude measurements, actuator, and disturbance torques), modeling, spacecraft attitude …

This paper proposes a novel robust attitude estimation algorithm for a small unmanned
aerial vehicle (UAV) in the absence of GPS measurements. A synthetic sideslip angle (SSA) …

This paper presents a novel robust quaternion-based error state Kalman filter (ESKF) for
co** with modeling uncertainty in inertial measurement unit (IMU)-based attitude …

The attitude determination (AD) based initial alignment for Doppler velocity log (DVL) aided
strapdown inertial navigation system (SINS) is investigated. Three issues involved in …

This article proposes two novel covariance-tuning methods to form a robust Kalman filter
(RKF) algorithm for attitude (ie, roll and pitch) estimation using the measurements of only an …

The magnetic, angular rate, and gravity (MARG) sensor array has been widely used for
attitude estimation tasks. In this article, we report our new advances on related fusion …