{"id":"https://openalex.org/W2036003290","doi":"https://doi.org/10.1109/cdc.2011.6161005","title":"On the attitude estimation of accelerating rigid-bodies using GPS and IMU measurements","display_name":"On the attitude estimation of accelerating rigid-bodies using GPS and IMU measurements","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W2036003290","doi":"https://doi.org/10.1109/cdc.2011.6161005","mag":"2036003290"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2011.6161005","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2011.6161005","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Conference on Decision and Control and European Control Conference","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/A5062421365","display_name":"Andrew D. Roberts","orcid":"https://orcid.org/0000-0002-0907-9267"},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Andrew Roberts","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Western Ontario, London, ONT, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Western Ontario, London, ONT, Canada","institution_ids":["https://openalex.org/I125749732"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025598794","display_name":"Abdelhamid Tayebi","orcid":"https://orcid.org/0000-0002-9049-4651"},"institutions":[{"id":"https://openalex.org/I72541430","display_name":"Lakehead University","ror":"https://ror.org/023p7mg82","country_code":"CA","type":"education","lineage":["https://openalex.org/I72541430"]},{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Abdelhamid Tayebi","raw_affiliation_strings":["Department of Electrical Engineering, Lakehead University, Thunder Bay, ONT, Canada","Department of Electrical and Computer Engineering, University of Western Ontario, London, ONT, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Lakehead University, Thunder Bay, ONT, Canada","institution_ids":["https://openalex.org/I72541430"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Western Ontario, London, ONT, Canada","institution_ids":["https://openalex.org/I125749732"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5062421365"],"corresponding_institution_ids":["https://openalex.org/I125749732"],"apc_list":null,"apc_paid":null,"fwci":80.6401,"has_fulltext":false,"cited_by_count":45,"citation_normalized_percentile":{"value":0.99700475,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"8088","last_page":"8093"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":1.0,"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":1.0,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9962999820709229,"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/accelerometer","display_name":"Accelerometer","score":0.8808203339576721},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7971006631851196},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.7627946138381958},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.7423774003982544},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.7068287134170532},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.554416298866272},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5220032334327698},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5196313261985779},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.47362014651298523},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.39676207304000854},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3025580942630768},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24187687039375305},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.195087730884552},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16443884372711182},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.11196938157081604},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10461005568504333},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09065014123916626}],"concepts":[{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.8808203339576721},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7971006631851196},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.7627946138381958},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.7423774003982544},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.7068287134170532},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.554416298866272},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5220032334327698},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5196313261985779},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.47362014651298523},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.39676207304000854},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3025580942630768},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24187687039375305},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.195087730884552},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16443884372711182},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.11196938157081604},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10461005568504333},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09065014123916626},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc.2011.6161005","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2011.6161005","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Conference on Decision and Control and European Control Conference","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.713.3931","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.713.3931","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://flash.lakeheadu.ca/%7Etayebi/CDC2011_Rob_tay_estim.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.5799999833106995,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1499655155","https://openalex.org/W1564897360","https://openalex.org/W1977628593","https://openalex.org/W1997539854","https://openalex.org/W2006863675","https://openalex.org/W2010687720","https://openalex.org/W2046287268","https://openalex.org/W2050081727","https://openalex.org/W2063005413","https://openalex.org/W2067603665","https://openalex.org/W2068721705","https://openalex.org/W2070299141","https://openalex.org/W2084363077","https://openalex.org/W2115930333","https://openalex.org/W2116394929","https://openalex.org/W2118447418","https://openalex.org/W2125691646","https://openalex.org/W2136517446","https://openalex.org/W2171541961","https://openalex.org/W2467377838","https://openalex.org/W3104122060","https://openalex.org/W3217246742","https://openalex.org/W6644457214"],"related_works":["https://openalex.org/W2765080098","https://openalex.org/W1973973903","https://openalex.org/W2992410632","https://openalex.org/W2593280956","https://openalex.org/W2004312940","https://openalex.org/W2025756212","https://openalex.org/W1909961747","https://openalex.org/W1938318326","https://openalex.org/W1969479488","https://openalex.org/W2382856674"],"abstract_inverted_index":{"We":[0],"present":[1],"two":[2],"observers":[3,118,138],"that":[4,42,141],"estimate":[5],"the":[6,43,46,54,63,68,78,83,91,96,102,105,113,124,131,142,145],"orientation":[7],"of":[8,71,90,104,123,133,136],"a":[9,22,28],"rigid":[10,55,92,125],"body,":[11],"which":[12,49,75,127,139],"is":[13,50,57,98,109],"subjected":[14],"to":[15,59,67,100],"linear":[16,61,88,106],"accelerations":[17,122],"and":[18,27],"rotational":[19],"motion,":[20],"using":[21],"global":[23],"positioning":[24],"system":[25],"(GPS)":[26],"body-attached":[29],"inertial":[30,114],"measurement":[31],"unit":[32],"(IMU).":[33],"Unlike":[34],"some":[35],"other":[36,134],"attitude":[37,73,137],"estimation":[38],"schemes":[39],"(which":[40,108],"assume":[41,140],"accelerometer":[44,80,143],"measures":[45,144],"gravity":[47,146],"vector,":[48],"not":[51],"realistic":[52],"when":[53],"body":[56,93,126],"subject":[58],"large":[60,121],"accelerations),":[62],"proposed":[64],"results":[65],"belong":[66],"special":[69],"class":[70],"velocity-aided":[72],"observers,":[74],"instead":[76],"use":[77],"true":[79],"measurements":[81],"(i.e.,":[82],"system's":[84],"apparent":[85],"acceleration).":[86],"The":[87,116],"velocity":[89],"(obtained":[94],"from":[95],"GPS)":[97],"used":[99],"obviate":[101],"requirement":[103],"acceleration":[107],"assumed":[110],"unavailable":[111],"in":[112],"frame).":[115],"new":[117],"can":[119],"handle":[120],"could":[128],"otherwise":[129],"destroy":[130],"performance":[132],"types":[135],"vector.":[147]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":5}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}