This paper studies constrained relative attitude determination of a formation of two vehicles. A deterministic solution for the relative attitude between the two vehicles with line-of-sight observations between them and a common object observed by both vehicles is presented. The constraint may be either a planar constraint or a triangle constraint of the observed vectors. The difference between...

In this paper, a star tracker attitude estimation procedure with increased robustness and efficiency, using the AIM (Attitude Estimation using optimal Image Matching) algorithm, is presented and validated. The unique approach of the AIM algorithm allows us to introduce a reliable quality check which can be efficiently calculated. Unlike existing validation methods, this quality check not only d...

Precise control of UAV (Unmanned Aerial Vehicle) or MAV (Micro Aerial Vehicle), requires the accurate determination of vehicle orientation. Attitude and heading reference systems (AHRS) are popularly used for vehicle orientation determination. In these systems, Euler angle estimation is more appropriate than quaternion estimation because the accelerometer measurement and magnetometer measuremen...

This chapter describes an algorithm for determining the speed and the attitude of a sensor assembling constituted by a monocular camera and inertial sensors (three orthogonal accelerometers and three orthogonal gyroscopes). The system moves in a 3D unknown environment. The algorithm inputs are the visual and inertial measurements during a very short time interval. The outputs are: the speed and...