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This paper presents the design, analysis, and performance evaluation of a new class of globally asymptotically stable filters for attitude estimation. The design is based directly on the sensor measurements as opposed to traditional solutions that resort to parameterizations of the attitude, e.g., Euler angles, quaternions, or rotation matrices, and therefore it does not have problems such as singularities,...
In this paper we consider the problem of estimating the attitude of a rigid body equipped with a triad of rate gyros and a pan and tilt camera. The nonlinear attitude observer integrates angular velocity measurements from rate gyros, with images of a planar scene provided by the camera. By exploiting directly sensor information, i) a stabilizing feedback law is introduced and exponential convergence...
The paper presents the design and performance evaluation of a novel navigation solution that merges low-rate delayed GPS measurements with high-rate linear acceleration, attitude, and angular velocity measurements to estimate, in three dimensions, linear motion quantities (position, linear velocity, an acceleration of gravity) of unmanned aerial vehicles (UAVs). The design is based on the continuous-discrete...
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