Location monitoring system for rescue disable persons by switching the location estimation methods with GPS, ZigBee and WiFi beacon is proposed. Rescue system with triage using health condition monitoring together with location and attitude monitoring as well as the other data acquired with mobile devices is evaluated with the proposed location monitoring system. Through simulation study, influ...

Magnetometers are widely used for LEO small satellites attitude determination and control system. In order to estimate satellite dynamics and control attitude accurately, scale factor and bias of magnetometer must be estimated. In this study a linear Kalman filter (LKF) based algorithm for the estimation of magnetometer biases and scale factors is proposed. Proposed algorithms are simulated thr...

This paper presents a new method that permits to estimate, in the viewer coordinate system, the spatial attitude of an articulated object from a single perspective image. Its principle is based on the interpretation of some image lines as the perspective projection of linear ridges of the object model, and on an iterative search of the model attitude consistent with these projections. The prese...

Principal component analysis (PCA)-based approach for user heading estimation using a smartphone in the pocket suffers from an inaccurate estimation of device attitude, which plays a central role in both obtaining acceleration signals in the horizontal plane and the ultimate global walking direction extraction. To solve this problem, we propose a novel heading estimation approach based on two u...

This work investigates the performances of several State-Dependent Riccati Equation algorithms for the estimation and control of attitude and attitude rates of a rigid-body spacecraft. The estimators are designed to process line-of-sight and gyros measurements corrupted by white noises and potentially drifting biases. The case of gyroless estimation is also addressed. The vector measurements ar...

Rescue system with health condition monitoring together with location and attitude monitoring as well as the other data acquired with mobile devices is proposed. Backup system for location estimation is also proposed. On behalf of GPS receivers and WiFi beacon receivers, ZigBee is used as a backup system. Attitude can be monitored with acceleration-meters equipped in the commercially available ...

A new spacecraft attitude estimation approach based on the Unscented Filter is derived. For nonlinear systems the Unscented Filter uses a carefully selected set of sample points to more accurately map the probability distribution than the linearization of the standard Extended Kalman Filter, leading to faster convergence from inaccurate initial conditions in attitude estimation problems. The fi...

The mobile robot localization problem is treated as a two-stage iterative estimation process. The attitude is estimated rst and is then available for position estimation. The indirect (error state) form of the Kalman lter is developed for attitude estimation when applying gyro modeling. The main bene t of this choice is that complex dynamic modeling of the mobile robot and its interaction with ...

The navigation is a critical element of a satellite launcher. The objective of this research is to evaluate the additional precision and robustness provided to the navigation solution by using the reference trajectory data. To include this information, the error state model of a GPS/INS configuration is augmented to estimate the difference between the launcher and the reference trajectory attit...

Over the last decade, the use of unmanned aerial vehicles (UAVs) has increased drastically. Originally, the use of these aircraft was mainly military, but today many civil applications have emerged. UAVs are frequently the preferred choice for surveillance missions in disaster areas, after earthquakes or hurricanes, and in hazardous environments, e.g. for detection of nuclear radiation. The UAV...