{"id":"https://openalex.org/W2159630335","doi":"https://doi.org/10.1109/cdc.2010.5718071","title":"A quaternion-based Complementary Sliding Mode Observer for attitude estimation: Application in free-ranging animal motions","display_name":"A quaternion-based Complementary Sliding Mode Observer for attitude estimation: Application in free-ranging animal motions","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2159630335","doi":"https://doi.org/10.1109/cdc.2010.5718071","mag":"2159630335"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2010.5718071","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2010.5718071","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"49th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-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/A5008384064","display_name":"Hassen Fourati","orcid":"https://orcid.org/0000-0002-8398-7183"},"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/I4210100943","display_name":"Centre de Recherche en Sciences et Technologies de l'Information et de la Communication","ror":"https://ror.org/016wdna72","country_code":"FR","type":"facility","lineage":["https://openalex.org/I154526488","https://openalex.org/I4210100943","https://openalex.org/I4210141980","https://openalex.org/I96226040"]},{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]},{"id":"https://openalex.org/I96226040","display_name":"Universit\u00e9 de Reims Champagne-Ardenne","ror":"https://ror.org/03hypw319","country_code":"FR","type":"education","lineage":["https://openalex.org/I96226040"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"H. Fourati","raw_affiliation_strings":["CReSTIC-URCA, Reims Champagne Ardenne University, France","IPHC-DEPE-CNRS, Strasbourg University, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CReSTIC-URCA, Reims Champagne Ardenne University, France","institution_ids":["https://openalex.org/I96226040","https://openalex.org/I4210100943"]},{"raw_affiliation_string":"IPHC-DEPE-CNRS, Strasbourg University, France","institution_ids":["https://openalex.org/I68947357","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108096653","display_name":"Noureddine Manamanni","orcid":null},"institutions":[{"id":"https://openalex.org/I4210100943","display_name":"Centre de Recherche en Sciences et Technologies de l'Information et de la Communication","ror":"https://ror.org/016wdna72","country_code":"FR","type":"facility","lineage":["https://openalex.org/I154526488","https://openalex.org/I4210100943","https://openalex.org/I4210141980","https://openalex.org/I96226040"]},{"id":"https://openalex.org/I96226040","display_name":"Universit\u00e9 de Reims Champagne-Ardenne","ror":"https://ror.org/03hypw319","country_code":"FR","type":"education","lineage":["https://openalex.org/I96226040"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"N. Manamanni","raw_affiliation_strings":["CReSTIC-URCA, Reims Champagne Ardenne University, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CReSTIC-URCA, Reims Champagne Ardenne University, France","institution_ids":["https://openalex.org/I96226040","https://openalex.org/I4210100943"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071848735","display_name":"Abdelhak Ben Jemaa","orcid":null},"institutions":[{"id":"https://openalex.org/I4210100943","display_name":"Centre de Recherche en Sciences et Technologies de l'Information et de la Communication","ror":"https://ror.org/016wdna72","country_code":"FR","type":"facility","lineage":["https://openalex.org/I154526488","https://openalex.org/I4210100943","https://openalex.org/I4210141980","https://openalex.org/I96226040"]},{"id":"https://openalex.org/I96226040","display_name":"Universit\u00e9 de Reims Champagne-Ardenne","ror":"https://ror.org/03hypw319","country_code":"FR","type":"education","lineage":["https://openalex.org/I96226040"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"A. B. Jemaa","raw_affiliation_strings":["CReSTIC-URCA, Reims Champagne Ardenne University, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CReSTIC-URCA, Reims Champagne Ardenne University, France","institution_ids":["https://openalex.org/I96226040","https://openalex.org/I4210100943"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111655293","display_name":"Lissan Afilal","orcid":null},"institutions":[{"id":"https://openalex.org/I4210100943","display_name":"Centre de Recherche en Sciences et Technologies de l'Information et de la Communication","ror":"https://ror.org/016wdna72","country_code":"FR","type":"facility","lineage":["https://openalex.org/I154526488","https://openalex.org/I4210100943","https://openalex.org/I4210141980","https://openalex.org/I96226040"]},{"id":"https://openalex.org/I96226040","display_name":"Universit\u00e9 de Reims Champagne-Ardenne","ror":"https://ror.org/03hypw319","country_code":"FR","type":"education","lineage":["https://openalex.org/I96226040"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"L. Afilal","raw_affiliation_strings":["CReSTIC-URCA, Reims Champagne Ardenne University, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CReSTIC-URCA, Reims Champagne Ardenne University, France","institution_ids":["https://openalex.org/I96226040","https://openalex.org/I4210100943"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014408029","display_name":"Yves Handrich","orcid":"https://orcid.org/0000-0002-4478-5562"},"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/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Y. Handrich","raw_affiliation_strings":["IPHC-DEPE-CNRS, Strasbourg University, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IPHC-DEPE-CNRS, Strasbourg University, France","institution_ids":["https://openalex.org/I68947357","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":60.253,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.99574055,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"41","issue":null,"first_page":"5056","last_page":"5061"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9998000264167786,"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/T11325","display_name":"Inertial Sensor and Navigation","score":0.9998000264167786,"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/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.9821000099182129,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9807000160217285,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/quaternion","display_name":"Quaternion","score":0.9210968017578125},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.7952619791030884},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.680991530418396},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.6600756645202637},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6454349160194397},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6088718175888062},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5531055331230164},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.5440608263015747},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.486349880695343},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47782352566719055},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.4267398715019226},{"id":"https://openalex.org/keywords/azimuth","display_name":"Azimuth","score":0.4190692901611328},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37866976857185364},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37494534254074097},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33579951524734497},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2577807903289795},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12466946244239807}],"concepts":[{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.9210968017578125},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.7952619791030884},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.680991530418396},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.6600756645202637},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6454349160194397},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6088718175888062},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5531055331230164},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.5440608263015747},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.486349880695343},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47782352566719055},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.4267398715019226},{"id":"https://openalex.org/C159737794","wikidata":"https://www.wikidata.org/wiki/Q124274","display_name":"Azimuth","level":2,"score":0.4190692901611328},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37866976857185364},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37494534254074097},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33579951524734497},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2577807903289795},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12466946244239807},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2010.5718071","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2010.5718071","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"49th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.8799999952316284,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1500564636","https://openalex.org/W1527786550","https://openalex.org/W1558470758","https://openalex.org/W1966430548","https://openalex.org/W1967288389","https://openalex.org/W2000474803","https://openalex.org/W2063005413","https://openalex.org/W2093680430","https://openalex.org/W2105879912","https://openalex.org/W2108257325","https://openalex.org/W2120553757","https://openalex.org/W2122848338","https://openalex.org/W2125691646","https://openalex.org/W2134182643","https://openalex.org/W2139268706","https://openalex.org/W2143988270","https://openalex.org/W2144831580","https://openalex.org/W2154101061","https://openalex.org/W2155369266","https://openalex.org/W2161872204","https://openalex.org/W2172190374","https://openalex.org/W2467377838","https://openalex.org/W3031240507","https://openalex.org/W4298408646","https://openalex.org/W6633695224","https://openalex.org/W6641596137","https://openalex.org/W6650408500","https://openalex.org/W6673848206"],"related_works":["https://openalex.org/W1973973903","https://openalex.org/W3195533899","https://openalex.org/W3208523813","https://openalex.org/W4287084017","https://openalex.org/W3179745820","https://openalex.org/W2537790823","https://openalex.org/W2594666386","https://openalex.org/W2545638156","https://openalex.org/W2359095091","https://openalex.org/W2000754062"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,7,68,104],"sensing":[4],"method":[5],"using":[6],"module":[8],"of":[9,22,33,58,98,106],"GAM":[10],"sensors":[11],"(3-axis":[12],"Gyroscope,":[13],"3-axis":[14,16],"Accelerometer,":[15],"Magnetometer)":[17],"for":[18],"more":[19],"accurate":[20,56],"measurement":[21],"the":[23,41,59,63,91,99],"marine":[24],"animal's":[25],"posture.":[26],"The":[27,85,96],"application":[28],"in":[29,45],"mind":[30],"is":[31,38,74,88,101],"that":[32],"Bio-logging.":[34],"A":[35],"quaternion-based":[36],"algorithm":[37,87],"developed":[39],"through":[40,112],"complementary":[42],"filtering":[43],"theory":[44],"order":[46],"to":[47,53],"combine":[48],"all":[49],"information":[50],"sources":[51],"and":[52,82],"obtain":[54],"an":[55,117],"estimation":[57],"attitude.":[60],"By":[61],"considering":[62],"rigid":[64],"body":[65],"kinematic":[66],"model,":[67],"Complementary":[69],"Sliding":[70],"Mode":[71],"Observer":[72],"(CSMO)":[73],"proposed,":[75],"taking":[76],"advantages":[77],"from":[78],"strapdown":[79],"inertial":[80],"measurements":[81,114],"vector":[83],"observations.":[84],"proposed":[86],"based":[89],"on":[90,109],"multiplicative":[92],"quaternion":[93],"correction":[94],"technique.":[95],"performance":[97],"CSMO":[100],"shown":[102],"with":[103],"set":[105],"preliminary":[107],"experiments":[108],"domestic":[110],"animals":[111],"sensor":[113],"provided":[115],"by":[116],"Inertial":[118],"Measurement":[119],"Unit.":[120]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
