Multisensor Attitude Estimation (eBook, ePUB)

Fundamental Concepts and Applications
Redaktion: Fourati, Hassen; Belkhiat, Djamel Eddine Chouaib

• Format: ePub

Produktbeschreibung

This book provides the reader with a generic and comprehensive view of contemporary data fusion methodologies for attitude estimation, as well as the most recent research and novel advances on task exploring, the design of algorithms and architectures, benefits, and challenging aspects, for a broad array of disciplines including navigation, robotics, biomedicine, and motion analysis. Issues arise from the data to be fused, imperfection and diversity of the sensor technologies, and the nature of the application environment. This book will help the reader understand the basics of data fusion in attitude estimation, mathematical representations of attitude, and the main used sensors.

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Produktdetails

• Verlag: Taylor & Francis
• Seitenzahl: 606
• Erscheinungstermin: 3. November 2016
• Englisch
• ISBN-13: 9781315351759
• Artikelnr.: 47137768

Autorenporträt

Hassen Fourati, PhD, is currently an associate professor of the electrical engineering and computer science at the University of Grenoble Alpes, Grenoble, France, and a member of the Networked Controlled Systems Team (NeCS), affiliated to the Automatic Control Department of the GIPSA-Lab. He earned his Bachelor of Engineering degree in Electrical Engineering at the National Engineering School of Sfax, Tunisia in 2006; his Master's degree in Automated Systems and Control at the University of Claude Bernard, Lyon, France in 2007; and his PhD degree in Automatic Control at the University of Strasbourg, France in 2010. His research interests include nonlinear filtering and estimation and multisensor fusion with applications in navigation, robotics, and traffic management. Dr. Fourati has published several research papers in scientific journals, international conferences, and book chapters. He can be reached at [e-mail]. Djamel Eddine Chouaib Belkhiat, PhD, is an associate professor in the department of physics at the Ferhat Abbas University, Setif 1, Algeria where he is also a member of Intelligent Systems Laboratory. He received the Bachelor of Engineering degree in Electrical Engineering from the Ferhat Abbas University, Setif 1, Algeria in 2007, the Master degree in Automatic Control from the University of Poitiers, France in 2008, and the Ph.D. degree in Automatic Control from the University of Reims Champagne Ardenne, France in 2011. His research interests lie in the area of monitoring and diagnosis of Hybrid Systems. Dr. Belkhiat has published several research papers in scientific journals, international conferences and book chapters. He can be reached at [e-mail].

Inhaltsangabe

Section I Preliminaries on Attitude Representations and Rotations. What Are
Quaternions and Why Haven't I Heard of Them? Rotation in 3D Space. Attitude
Parametrization, Kinematics, and Dynamics. Section II Multisensor Filtering
for Attitude Estimation: Theories and Applications. Stable Estimation of
Rigid Body Motion Based on the Lagrange-d'Alembert Principle. The Additive
and Multiplicative Approaches to Quaternion Kalman Filtering. Spacecraft
Attitude Determination. How to Deal with the External Acceleration When
Estimating the Attitude Using Inertial Measurement Units: A Linear
Kalman-Based Filtering Approach. From Attitude Estimation to Pose
Estimation Using Dual Quaternions. Distributed Estimation for Spatial Rigid
Motion Based on Dual Quaternions. A Quaternion Orientation from Earth Field
Observations Using the Algebraic Quaternion Algorithm: Analysis and
Applications in Fusion Algorithms. Recent Nonlinear Attitude Estimation
Algorithms. Low Complexity Sensor Fusion Solution for Accurate Estimation
of Gravity and Linear Acceleration. Deterministic Attitude Estimation.
Attitude Estimations with Intermittent Observations. Estimation of Attitude
from a Single-Direction Sensor. Cooperative Attitude Estimation Based on
Remote-Access Observations. Nonlinear Observer for Attitude, Position, and
Velocity: Theory and Experiments. Spacecraft Attitude Estimation Using
Sparse Grid Quadrature Filtering. Attitude Estimation for Small, Low-Cost
UAVs: A Tutorial Approach. 3D Orientation Estimation Using Wearable MEMS
Inertial/Magnetic Sensors. Adaptive Data Fusion of Multiple Sensors for
Vehicle Pose Estimation. Optimal Invariant Observers Theory for Nonlinear
State Estimation. Design and Implementation of Low-Cost Attitude Heading
References Systems for Micro Aerial Vehicles. Small Satellite Attitude
Determination. A Hybrid Data Fusion Approach for Robust Attitude
Estimation. Integration of Single-Frame and Filtering Methods for
Nanosatellite Attitude Estimation. Ego-Motion Tracking in Dynamic
Environments Using Wearable Visual-Inertial Sensors. Attitude Estimation
for a Small-Scale Flybarless Helicopter. A Comparison of Multisensor
Attitude Estimation Algorithms. Low-Cost and Accurate Reconstruction of
Postures via IMU. Attitude Estimation of a UAV Using Optical Flow. Index.