{"id":"https://openalex.org/W2146922149","doi":"https://doi.org/10.1080/00207720601110798","title":"Nonlinear attitude and gyroscope's bias estimation for a VTOL UAV","display_name":"Nonlinear attitude and gyroscope's bias estimation for a VTOL UAV","publication_year":2007,"publication_date":"2007-03-01","ids":{"openalex":"https://openalex.org/W2146922149","doi":"https://doi.org/10.1080/00207720601110798","mag":"2146922149"},"language":"en","primary_location":{"id":"doi:10.1080/00207720601110798","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207720601110798","pdf_url":null,"source":{"id":"https://openalex.org/S129640837","display_name":"International Journal of Systems Science","issn_l":"0020-7721","issn":["0020-7721","1464-5319"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Systems Science","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5109043269","display_name":"Jean Michel Pflimlin","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"J. M. Pflimlin","raw_affiliation_strings":["LAAS-CNRS , 7 Avenue du Colonel Roche, 31077 Toulouse Cedex 4, France","LAAS-CNRS, 31077 Toulouse Cedex 4, France#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAAS-CNRS , 7 Avenue du Colonel Roche, 31077 Toulouse Cedex 4, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"LAAS-CNRS, 31077 Toulouse Cedex 4, France#TAB#","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052963738","display_name":"Tarek Hamel","orcid":"https://orcid.org/0000-0002-7779-1264"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"T. Hamel","raw_affiliation_strings":["I3S-UNSA-CNRS , 2000 Route des Lucioles, BP 121, 06903 Sophia Antipolis Cedex, France","I3S-UNSA-CNRS, BP 121, 06903 Sophia Antipolis Cedex, France#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"I3S-UNSA-CNRS , 2000 Route des Lucioles, BP 121, 06903 Sophia Antipolis Cedex, France","institution_ids":["https://openalex.org/I1294671590"]},{"raw_affiliation_string":"I3S-UNSA-CNRS, BP 121, 06903 Sophia Antipolis Cedex, France#TAB#","institution_ids":["https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014128188","display_name":"Philippe Sou\u00e8res","orcid":"https://orcid.org/0000-0001-9064-4405"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"P. Sou\u00e8res","raw_affiliation_strings":["LAAS-CNRS , 7 Avenue du Colonel Roche, 31077 Toulouse Cedex 4, France","LAAS-CNRS, 31077 Toulouse Cedex 4, France#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAAS-CNRS , 7 Avenue du Colonel Roche, 31077 Toulouse Cedex 4, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"LAAS-CNRS, 31077 Toulouse Cedex 4, France#TAB#","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5014128188"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I190497903"],"apc_list":null,"apc_paid":null,"fwci":123.1213,"has_fulltext":false,"cited_by_count":49,"citation_normalized_percentile":{"value":0.99813792,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"38","issue":"3","first_page":"197","last_page":"210"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9994000196456909,"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/gyroscope","display_name":"Gyroscope","score":0.7821234464645386},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7288674116134644},{"id":"https://openalex.org/keywords/rotation-matrix","display_name":"Rotation matrix","score":0.724489688873291},{"id":"https://openalex.org/keywords/quaternion","display_name":"Quaternion","score":0.697273850440979},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6666499972343445},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.6055951714515686},{"id":"https://openalex.org/keywords/attitude-and-heading-reference-system","display_name":"Attitude and heading reference system","score":0.5958216786384583},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5782874822616577},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5246536731719971},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5009212493896484},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4953118860721588},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.46227508783340454},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.43525347113609314},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.43170467019081116},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.42826470732688904},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.415244996547699},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3396269679069519},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3343289792537689},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3220081925392151},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3195722699165344},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.19792664051055908},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18127426505088806},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10493388772010803},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10021179914474487}],"concepts":[{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.7821234464645386},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7288674116134644},{"id":"https://openalex.org/C83633838","wikidata":"https://www.wikidata.org/wiki/Q1256564","display_name":"Rotation matrix","level":2,"score":0.724489688873291},{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.697273850440979},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6666499972343445},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.6055951714515686},{"id":"https://openalex.org/C204114589","wikidata":"https://www.wikidata.org/wiki/Q4248887","display_name":"Attitude and heading reference system","level":3,"score":0.5958216786384583},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5782874822616577},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5246536731719971},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5009212493896484},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4953118860721588},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.46227508783340454},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.43525347113609314},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.43170467019081116},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.42826470732688904},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.415244996547699},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3396269679069519},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3343289792537689},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3220081925392151},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3195722699165344},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.19792664051055908},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18127426505088806},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10493388772010803},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10021179914474487},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1080/00207720601110798","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207720601110798","pdf_url":null,"source":{"id":"https://openalex.org/S129640837","display_name":"International Journal of Systems Science","issn_l":"0020-7721","issn":["0020-7721","1464-5319"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Systems Science","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.616.3522","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.616.3522","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.nt.ntnu.no/users/skoge/prost/proceedings/ifac2005/Fullpapers/04127.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W625302521","https://openalex.org/W1539398398","https://openalex.org/W1558470758","https://openalex.org/W1564897360","https://openalex.org/W1982336105","https://openalex.org/W2003835006","https://openalex.org/W2079570480","https://openalex.org/W2090167557","https://openalex.org/W2107766390","https://openalex.org/W2115930333","https://openalex.org/W2122093596","https://openalex.org/W2134858417","https://openalex.org/W2143764656","https://openalex.org/W2158249333","https://openalex.org/W2185563388","https://openalex.org/W2331539046","https://openalex.org/W2334745652","https://openalex.org/W2528783306","https://openalex.org/W2582998992","https://openalex.org/W2965720098","https://openalex.org/W3217246742","https://openalex.org/W4236573885"],"related_works":["https://openalex.org/W1989565895","https://openalex.org/W2132329956","https://openalex.org/W2375750355","https://openalex.org/W2370734581","https://openalex.org/W2368484960","https://openalex.org/W1541746961","https://openalex.org/W2163045496","https://openalex.org/W2951160651","https://openalex.org/W2387899319","https://openalex.org/W2011761444"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,33,40,54,59,65,92,95,113,122,147,150],"problem":[4],"of":[5,39,61,107],"attitude":[6,34],"and":[7,17,43,83,94,110],"heading":[8],"restitution":[9],"for":[10],"a":[11,23,37,67],"VTOL":[12,70],"UAV":[13,71],"(Vertical":[14],"Take":[15],"Off":[16],"Landing":[18],"Unmanned":[19],"Aerial":[20],"Vehicle).":[21],"In":[22,53],"first":[24],"step,":[25,56],"we":[26,57],"propose":[27],"an":[28,49,78,100],"observation":[29],"strategy":[30],"to":[31,139],"restore":[32],"starting":[35],"from":[36,91],"measure":[38],"orientation":[41,87,102],"matrix":[42,88],"angular":[44],"rate":[45],"readings":[46],"polluted":[47],"by":[48,73,105,112],"unknown":[50],"bias":[51],"vector.":[52],"second":[55],"detail":[58],"implementation":[60],"this":[62],"algorithm":[63],"in":[64,121,141],"HoverEye,":[66],"ducted":[68],"fan":[69],"developed":[72],"Bertin":[74],"Technologies,":[75],"equipped":[76],"with":[77],"inertial":[79],"measurement":[80],"unit":[81],"(IMU)":[82],"magnetometers.":[84],"A":[85],"measured":[86,114],"is":[89,103,127],"calculated":[90],"gravity":[93],"earth's":[96],"magnetic":[97],"field.":[98],"Then,":[99],"estimated":[101],"built":[104],"integration":[106],"gyroscopic":[108],"readings,":[109],"corrected":[111],"ones.":[115],"The":[116],"proposed":[117],"observer,":[118],"directly":[119],"designed":[120],"special":[123],"orthogonal":[124],"group":[125],"SO(3),":[126],"as":[128,130],"efficient":[129],"classical":[131],"Extended":[132],"Kalman":[133],"Filtering":[134],"based":[135],"observers,":[136],"but":[137],"easier":[138],"implement":[140],"real":[142],"time.":[143],"Experiments":[144],"achieved":[145],"on":[146],"HoverEye":[148],"illustrate":[149],"concept.":[151]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":9},{"year":2012,"cited_by_count":6}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
