2025/06/08 by Hassan Alnahhal, Alnahhal, Hassan, Sifeddine Benahmed +4 · 1 citation
Computer Science · Engineering · #FOS: Electrical engineering #Inertial Sensor and Navigation #Robotics and Sensor-Based Localization #Systems and Control (eess.SY) #Target Tracking and Data Fusion in Sensor Networks #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2506.07068
openalex publication_date 2025/06/08 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper revisits the problem of orientation estimation for rigid bodies through a novel framework based on scalar measurements. Unlike traditional vector-based methods, the proposed approach enables selective utilization of only the reliable axes of vector measurements while seamlessly incorporating alternative scalar modalities such as Pitot tubes, barometers with range sensors, and landmark-based constraints. The estimation problem is reformulated within a linear time-varying (LTV) framework, allowing the application of a deterministic linear Kalman filter. This design guarantees Global Uniform Exponential Stability (GES) under the Uniform Observability (UO) condition. Simulation results demonstrate the effectiveness of the proposed approach in achieving robust and accurate attitude estimation, even with partial vector measurements that simulate sensor axis failure.