Three-axis magnetometers and three-axis accelerometers are widely used sensors for attitude estimation, yet their accuracy is limited by sensor measurement bias. This paper reports a novel methodology for estimating the sensor bias of three-axis field sensors (e.g. magnetometers and accelerometers). Our approach employs three-axis angular velocity measurements from an angular-rate gyroscope to ...

In this chapter, we focused on the posture estimation problem of a body moving in 3D space. This study is devoted to the reconstruction of the body attitude and Dynamic Body Acceleration (DBA) in free ranging animal (application in Bio-logging) where the access to GPS locations is limited or impossible. A quaternion-based complementary filter is designed to provide a viable attitude estimation ...

Magnetometers provide compass information, and are widely used for navigation, orientation and alignment of objects. As magnetometers are affected by sensor biases and eventually by systematic distortions of the Earth magnetic field, a calibration is needed. In this paper, a method for calibration of magnetometers with three Global Navigation Satellite System (GNSS) receivers is presented. We p...

This paper proposes two estimation algorithms for the determination of the attitude installation matrix for 2-D light detection and ranging (LiDAR) systems on board unmanned aerial vehicles (UAVs). While a comparative calibration algorithm assumes the existence of a known calibration surface, an automatic calibration algorithm does not require any prior knowledge of the trajectories of the vehi...

This paper discusses a dynamic observability analysis for attitude, angular velocity, shape, and surface parameters of Space Objects (SOs) using non-resolved images or light curve measurements. The Fisher information matrix and CramérRao lower bound are introduced for calculating the observability of parameters used in SO models. Light curve measurements are known to be functions of SO rotation...

Extended Kalman filter (EKF) has been widely used for attitude determination in various satellite missions. However, it 1 requires an extensive computational power which is not suitable for nano-satellite application. This paper proposes a gain-scheduled 2 EKF (GSEKF) to reduce the computational requirement in nano-satellite attitude determination process. The proposed GSEKF 3 eliminates the on...

This paper describes a prototype system for attitude and heading determination. A L1-only GPS receiver is integrated with microelectromechanical gyroscopes, accelerometers and magnetometers. In contrast to a multi-antenna/multi-receiver GPS attitude determination system, this system uses a single antenna/single receiver configuration to derive standalone velocity and acceleration solutions from...