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Multisensor Attitude Estimation

Fundamental Concepts and Applications

Edited by: Hassen Fourati , Djamel Eddine Chouaib Belkhiat , Krzysztof Iniewski

Print publication date:  August  2016
Online publication date:  November  2016

Print ISBN: 9781498745710
eBook ISBN: 9781315368795
Adobe ISBN:

10.1201/9781315368795
 Cite  Marc Record

Book description

There has been an increasing interest in multi-disciplinary research on multisensor attitude estimation technology driven by its versatility and diverse areas of application, such as sensor networks, robotics, navigation, video, biomedicine, etc. Attitude estimation consists of the determination of rigid bodies? orientation in 3D space. This research area is a multilevel, multifaceted process handling the automatic association, correlation, estimation, and combination of data and information from several sources. Data fusion for attitude estimation is motivated by several issues and problems, such as data imperfection, data multi-modality, data dimensionality, processing framework, etc. While many of these problems have been identified and heavily investigated, no single data fusion algorithm is capable of addressing all the aforementioned challenges. The variety of methods in the literature focus on a subset of these issues to solve, which would be determined based on the application in hand. Historically, the problem of attitude estimation has been introduced by Grace Wahba in 1965 within the estimate of satellite attitude and aerospace applications.

This book intends to provide the reader with both a generic and comprehensive view of contemporary data fusion methodologies for attitude estimation, as well as the most recent researches and novel advances on multisensor attitude estimation task. It explores the design of algorithms and architectures, benefits, and challenging aspects, as well as a broad array of disciplines, including: navigation, robotics, biomedicine, motion analysis, etc. A number of issues that make data fusion for attitude estimation a challenging task, and which will be discussed through the different chapters of the book, are related to: 1) The nature of sensors and information sources (accelerometer, gyroscope, magnetometer, GPS, inclinometer, etc.); 2) The computational ability at the sensors; 3) The theoretical developments and convergence proofs; 4) The system architecture, computational resources, fusion level.

Table of contents

Chapter  1:  What Are Quaternions and Why Haven’t I Heard of Them? Download PDF
Chapter  2:  Rotation in 3D Space Download PDF
Chapter  3:  Attitude Parametrization, Kinematics, and Dynamics Download PDF
Chapter  4:  Stable Estimation of Rigid Body Motion Based on the Lagrange–d’Alembert Principle Download PDF
Chapter  5:  The Additive and Multiplicative Approaches to Quaternion Kalman Filtering Download PDF
Chapter  6:  Spacecraft Attitude Determination Download PDF
Chapter  7:  How to Deal with the External Acceleration When Estimating the Attitude Using Inertial Measurement Units Download PDF
Chapter  8:  From Attitude Estimation to Pose Estimation Using Dual Quaternions Download PDF
Chapter  9:  Distributed Estimation for Spatial Rigid Motion Based on Dual Quaternions Download PDF
Chapter  10:  A Quaternion Orientation from Earth Field Observations Using the Algebraic Quaternion Algorithm Download PDF
Chapter  11:  Recent Nonlinear Attitude Estimation Algorithms Download PDF
Chapter  12:  Low Complexity Sensor Fusion Solution for Accurate Estimation of Gravity and Linear Acceleration Download PDF
Chapter  13:  Deterministic Attitude Estimation Download PDF
Chapter  14:  Attitude Estimations with Intermittent Observations Download PDF
Chapter  15:  Estimation of Attitude from a Single-Direction Sensor Download PDF
Chapter  16:  Cooperative Attitude Estimation Based on Remote-Access Observations Download PDF
Chapter  17:  Nonlinear Observer for Attitude, Position, and Velocity: Theory and Experiments Download PDF
Chapter  18:  Spacecraft Attitude Estimation Using Sparse Grid Quadrature Filtering Download PDF
Chapter  19:  Attitude Estimation for Small, Low-Cost UAVs Download PDF
Chapter  20:  3D Orientation Estimation Using Wearable MEMS Inertial/Magnetic Sensors Download PDF
Chapter  21:  Adaptive Data Fusion of Multiple Sensors for Vehicle Pose Estimation Download PDF
Chapter  22:  Optimal Invariant Observers Theory for Nonlinear State Estimation Download PDF
Chapter  23:  Design and Implementation of Low-Cost Attitude Heading References Systems for Micro Aerial Vehicles Download PDF
Chapter  24:  Small Satellite Attitude Determination Download PDF
Chapter  25:  A Hybrid Data Fusion Approach for Robust Attitude Estimation Download PDF
Chapter  26:  Integration of Single-Frame and Filtering Methods for Nanosatellite Attitude Estimation Download PDF
Chapter  27:  Ego-Motion Tracking in Dynamic Environments Using Wearable Visual-Inertial Sensors Download PDF
Chapter  28:  Attitude Estimation for a Small-Scale Flybarless Helicopter Download PDF
Chapter  29:  A Comparison of Multisensor Attitude Estimation Algorithms Download PDF
Chapter  30:  Low-Cost and Accurate Reconstruction of Postures via IMU Download PDF
Chapter  31:  Attitude Estimation of a UAV Using Optical Flow Download PDF
prelims Download PDF
Index Download PDF
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