Scalar-Measurement Attitude Estimation

Scalar-Measurement Attitude Estimation on $\mathbf{SO}(3)$ with Bias Compensation

Announce Type: replace Abstract: Attitude estimation methods typically rely on full vector measurements from inertial sensors such as accelerometers and magnetometers. This paper shows that reliable estimation can also be achieved using only scalar measurements, which naturally arise either as components of vector readings or as independent constraints from other sensing modalities. We propose nonlinear deterministic observers on $\mathbf{SO}(3)$ that incorporate gyroscope bias compensation...