{"id":"https://openalex.org/W7133334774","doi":"https://doi.org/10.1016/j.sigpro.2026.110582","title":"Quaternion-based unscented Kalman filter for robust wrench estimation of human-UAV physical interaction","display_name":"Quaternion-based unscented Kalman filter for robust wrench estimation of human-UAV physical interaction","publication_year":2026,"publication_date":"2026-03-03","ids":{"openalex":"https://openalex.org/W7133334774","doi":"https://doi.org/10.1016/j.sigpro.2026.110582"},"language":"en","primary_location":{"id":"doi:10.1016/j.sigpro.2026.110582","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.sigpro.2026.110582","pdf_url":null,"source":{"id":"https://openalex.org/S154637859","display_name":"Signal Processing","issn_l":"0165-1684","issn":["0165-1684","1872-7557"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Signal Processing","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1016/j.sigpro.2026.110582","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009606790","display_name":"Hussein N. Naser","orcid":"https://orcid.org/0000-0001-8883-6248"},"institutions":[{"id":"https://openalex.org/I202735123","display_name":"Thi Qar University","ror":"https://ror.org/02ypa8k59","country_code":"IQ","type":"education","lineage":["https://openalex.org/I202735123"]},{"id":"https://openalex.org/I67031392","display_name":"Carleton University","ror":"https://ror.org/02qtvee93","country_code":"CA","type":"education","lineage":["https://openalex.org/I67031392"]}],"countries":["CA","IQ"],"is_corresponding":false,"raw_author_name":"Hussein N. Naser","raw_affiliation_strings":["Department of Biomedical Engineering, University of Thi-Qar, Thi-Qar, Nasiriyah, 64001, Iraq","Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, K1S-5B6, Ontario, Canada"],"raw_orcid":"https://orcid.org/0000-0001-8883-6248","affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, University of Thi-Qar, Thi-Qar, Nasiriyah, 64001, Iraq","institution_ids":["https://openalex.org/I202735123"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, K1S-5B6, Ontario, Canada","institution_ids":["https://openalex.org/I67031392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009644655","display_name":"Hashim A. Hashim","orcid":"https://orcid.org/0000-0003-2376-0603"},"institutions":[{"id":"https://openalex.org/I67031392","display_name":"Carleton University","ror":"https://ror.org/02qtvee93","country_code":"CA","type":"education","lineage":["https://openalex.org/I67031392"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Hashim A. Hashim","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, K1S-5B6, Ontario, Canada"],"raw_orcid":"https://orcid.org/0000-0003-2376-0603","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, K1S-5B6, Ontario, Canada","institution_ids":["https://openalex.org/I67031392"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003661568","display_name":"Mojtaba Ahmadi","orcid":"https://orcid.org/0000-0002-5679-7640"},"institutions":[{"id":"https://openalex.org/I67031392","display_name":"Carleton University","ror":"https://ror.org/02qtvee93","country_code":"CA","type":"education","lineage":["https://openalex.org/I67031392"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mojtaba Ahmadi","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, K1S-5B6, Ontario, Canada"],"raw_orcid":"https://orcid.org/0000-0002-5679-7640","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, K1S-5B6, Ontario, Canada","institution_ids":["https://openalex.org/I67031392"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5009644655"],"corresponding_institution_ids":["https://openalex.org/I67031392"],"apc_list":{"value":3200,"currency":"USD","value_usd":3200},"apc_paid":{"value":3200,"currency":"USD","value_usd":3200},"fwci":6.4394,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.95127793,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"245","issue":null,"first_page":"110582","last_page":"110582"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.3621000051498413,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.3621000051498413,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.2930000126361847,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12125","display_name":"Aerospace and Aviation Technology","score":0.10320000350475311,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7394000291824341},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7378000020980835},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.597100019454956},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.5390999913215637},{"id":"https://openalex.org/keywords/wrench","display_name":"Wrench","score":0.5008000135421753},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4733000099658966},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.4350000023841858},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.43479999899864197},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.37630000710487366}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7394000291824341},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7378000020980835},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.597100019454956},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.5390999913215637},{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.5008000135421753},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4733000099658966},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.4350000023841858},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.43479999899864197},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4278999865055084},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4018999934196472},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3801000118255615},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.37630000710487366},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.3483999967575073},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.34599998593330383},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.3427000045776367},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.3393000066280365},{"id":"https://openalex.org/C139399703","wikidata":"https://www.wikidata.org/wiki/Q7897426","display_name":"Unscented transform","level":5,"score":0.3188999891281128},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.31209999322891235},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.296099990606308},{"id":"https://openalex.org/C150679823","wikidata":"https://www.wikidata.org/wiki/Q5436946","display_name":"Fast Kalman filter","level":4,"score":0.2824999988079071},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.27379998564720154},{"id":"https://openalex.org/C79334102","wikidata":"https://www.wikidata.org/wiki/Q3072268","display_name":"Ensemble Kalman filter","level":4,"score":0.271699994802475},{"id":"https://openalex.org/C116672817","wikidata":"https://www.wikidata.org/wiki/Q1454986","display_name":"Physical system","level":2,"score":0.2583000063896179},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.25609999895095825},{"id":"https://openalex.org/C24552861","wikidata":"https://www.wikidata.org/wiki/Q2670177","display_name":"Data assimilation","level":2,"score":0.2533000111579895}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1016/j.sigpro.2026.110582","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.sigpro.2026.110582","pdf_url":null,"source":{"id":"https://openalex.org/S154637859","display_name":"Signal Processing","issn_l":"0165-1684","issn":["0165-1684","1872-7557"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Signal Processing","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2603.27328","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2603.27328","pdf_url":"https://arxiv.org/pdf/2603.27328","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:HAL:hal-05571219v1","is_oa":true,"landing_page_url":"https://hal.science/hal-05571219","pdf_url":"https://hal.science/hal-05571219v1/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Signal Processing, 2026, 245, pp.110582. ⟨10.1016/j.sigpro.2026.110582⟩","raw_type":"Journal articles"}],"best_oa_location":{"id":"doi:10.1016/j.sigpro.2026.110582","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.sigpro.2026.110582","pdf_url":null,"source":{"id":"https://openalex.org/S154637859","display_name":"Signal Processing","issn_l":"0165-1684","issn":["0165-1684","1872-7557"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Signal Processing","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W2003493718","https://openalex.org/W2033032716","https://openalex.org/W2167808181","https://openalex.org/W2615478411","https://openalex.org/W2895264376","https://openalex.org/W3128802769","https://openalex.org/W3196908521","https://openalex.org/W4205692843","https://openalex.org/W4206329618","https://openalex.org/W4280571200","https://openalex.org/W4285296730","https://openalex.org/W4312206880","https://openalex.org/W4315796838","https://openalex.org/W4319456617","https://openalex.org/W4327949062","https://openalex.org/W4394687154","https://openalex.org/W4396680776","https://openalex.org/W4405309804","https://openalex.org/W4405624835","https://openalex.org/W4409854971","https://openalex.org/W4410492285","https://openalex.org/W4413143316"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"an":[3],"advanced":[4],"Quaternion-based":[5],"Unscented":[6],"Kalman":[7,136],"Filter":[8,137],"(QUKF)":[9],"for":[10,87,152,163,184],"real-time,":[11],"robust":[12],"estimation":[13,52,113],"of":[14,53,104,127,159],"system":[15],"states":[16],"and":[17,47,57,71,92,110,161,165,177,187],"external":[18,93],"wrenches":[19],"in":[20,28,146,192],"assistive":[21],"aerial":[22],"payload":[23,194],"transportation":[24,195],"systems":[25],"that":[26],"engage":[27],"direct":[29],"physical":[30,115,190],"interaction.":[31],"Unlike":[32],"conventional":[33],"filtering":[34,120],"techniques,":[35],"the":[36,54,101,125,128,134,140],"proposed":[37,97],"approach":[38],"employs":[39],"a":[40,81,143,181],"unit-quaternion":[41],"representation":[42],"to":[43,67,118,174],"inherently":[44],"avoid":[45],"singularities":[46],"ensure":[48],"globally":[49],"consistent,":[50],"drift-free":[51],"platform\u2019s":[55],"pose":[56],"interaction":[58,75,116,191],"wrenches.":[59],"A":[60],"rigorous":[61],"quaternion-based":[62],"dynamic":[63],"model":[64],"is":[65,85],"formulated":[66],"capture":[68],"coupled":[69],"translational":[70],"rotational":[72,105],"dynamics":[73],"under":[74],"forces.":[76],"Building":[77],"on":[78],"this":[79],"model,":[80],"comprehensive":[82],"QUKF":[83,141],"framework":[84],"established":[86],"state":[88],"prediction,":[89],"measurement":[90,175],"updates,":[91],"wrench":[94],"estimation.":[95],"The":[96],"formulation":[98],"fully":[99],"preserves":[100],"nonlinear":[102],"characteristics":[103],"motion,":[106],"enabling":[107],"more":[108],"accurate":[109],"numerically":[111],"stable":[112],"during":[114],"compared":[117],"linearized":[119],"schemes.":[121],"Extensive":[122],"simulations":[123],"validate":[124],"effectiveness":[126],"QUKF,":[129],"showing":[130],"significant":[131],"improvements":[132,158],"over":[133],"Extended":[135],"(EKF).":[138],"Specifically,":[139],"achieved":[142],"79.41%":[144],"reduction":[145],"Root":[147],"Mean":[148],"Squared":[149],"Error":[150],"(RMSE)":[151],"torque":[153],"estimation,":[154],"with":[155],"average":[156],"RMSE":[157],"79%":[160],"56%,":[162],"position":[164],"angular":[166],"rates,":[167],"respectively.":[168],"These":[169],"findings":[170],"demonstrate":[171],"enhanced":[172],"robustness":[173],"noise":[176],"modeling":[178],"uncertainties,":[179],"providing":[180],"reliable":[182],"foundation":[183],"safe,":[185],"stable,":[186],"responsive":[188],"human-UAV":[189],"cooperative":[193],"tasks.":[196]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-06-07T08:38:57.713557","created_date":"2026-03-04T00:00:00"}