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) …

Tri-axial linear accelerometers are key components in a great variety of applications and, in
particular, in navigation systems. Nonidealities such as scale factors, cross coupling, bias …

This paper proposes a globally exponentially stable (GES) observer for attitude estimation
based on a single time-varying reference vector, in inertial coordinates, and corresponding …

This paper presents a novel approach to the design of globally asymptotically stable (GAS)
position and velocity filters for Autonomous Underwater Vehicles (AUVs) based directly on …

This technical note presents the design, analysis, and performance evaluation of a novel
globally asymptotically stable (GAS) filter for attitude estimation. The design is sensor-driven …

This paper presents the design, analysis, and performance evaluation of a novel cascade
observer for attitude estimation. A sensor-based observer, which resorts to rate gyro …

Navigation systems are a key element in a large variety of mobile platforms, where the
correct knowledge of their position and attitude is essential in most applications. This paper …

Although the accuracy of MEMS gyroscopes has been extremely improved, in some aspects,
such as stability of bias, they still suffer from some big error sources, like run-to-run bias …

This paper concerns the problem of position and attitude estimation based on the fusion of
complementary sensors. Nonlinear observers are proposed in order to obtain high-quality …

This thesis presents the magneto-inertial navigation technique (MINAV) using magnetic
disturbances and inertial sensors (accelerometers and gyrometers) to address the …