{"id":"https://openalex.org/W2155206702","doi":"https://doi.org/10.1109/iros.2011.6094805","title":"Attitude determination framework by globally and asymptotically stable bias error estimation with disturbance attenuation and rejection","display_name":"Attitude determination framework by globally and asymptotically stable bias error estimation with disturbance attenuation and rejection","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2155206702","doi":"https://doi.org/10.1109/iros.2011.6094805","mag":"2155206702"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094805","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094805","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5049089407","display_name":"Hideaki Yamato","orcid":null},"institutions":[{"id":"https://openalex.org/I8488066","display_name":"Chiba Institute of Technology","ror":"https://ror.org/00qwnam72","country_code":"JP","type":"education","lineage":["https://openalex.org/I8488066"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"H. Yamato","raw_affiliation_strings":["Future Robotics Technology Center, CHIBA Institute of Technology, Japan"],"affiliations":[{"raw_affiliation_string":"Future Robotics Technology Center, CHIBA Institute of Technology, Japan","institution_ids":["https://openalex.org/I8488066"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108634630","display_name":"T. Furuta","orcid":null},"institutions":[{"id":"https://openalex.org/I8488066","display_name":"Chiba Institute of Technology","ror":"https://ror.org/00qwnam72","country_code":"JP","type":"education","lineage":["https://openalex.org/I8488066"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Furuta","raw_affiliation_strings":["Future Robotics Technology Center, CHIBA Institute of Technology, Japan"],"affiliations":[{"raw_affiliation_string":"Future Robotics Technology Center, CHIBA Institute of Technology, Japan","institution_ids":["https://openalex.org/I8488066"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061813831","display_name":"Ken Tomiyama","orcid":null},"institutions":[{"id":"https://openalex.org/I8488066","display_name":"Chiba Institute of Technology","ror":"https://ror.org/00qwnam72","country_code":"JP","type":"education","lineage":["https://openalex.org/I8488066"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Tomiyama","raw_affiliation_strings":["Department of Advanced Robotics, CHIBA Institute of Technology, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, CHIBA Institute of Technology, Japan","institution_ids":["https://openalex.org/I8488066"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5049089407"],"corresponding_institution_ids":["https://openalex.org/I8488066"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.18462698,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"2466","last_page":"2473"},"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9933000206947327,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11405","display_name":"Geophysics and Gravity Measurements","score":0.9894000291824341,"subfield":{"id":"https://openalex.org/subfields/1910","display_name":"Oceanography"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"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":0.8313015699386597},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.7912838459014893},{"id":"https://openalex.org/keywords/quaternion","display_name":"Quaternion","score":0.7259987592697144},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.6525627374649048},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.6479633450508118},{"id":"https://openalex.org/keywords/attenuation","display_name":"Attenuation","score":0.5501197576522827},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.5184990167617798},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4959031045436859},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4786019027233124},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.466150164604187},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.420354425907135},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3253708779811859},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19493639469146729},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16256222128868103},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13197413086891174},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12031975388526917}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8313015699386597},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.7912838459014893},{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.7259987592697144},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.6525627374649048},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.6479633450508118},{"id":"https://openalex.org/C184652730","wikidata":"https://www.wikidata.org/wiki/Q2357982","display_name":"Attenuation","level":2,"score":0.5501197576522827},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.5184990167617798},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4959031045436859},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4786019027233124},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.466150164604187},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.420354425907135},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3253708779811859},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19493639469146729},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16256222128868103},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13197413086891174},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12031975388526917},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2011.6094805","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094805","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1559536299","https://openalex.org/W1969739853","https://openalex.org/W1994236486","https://openalex.org/W2006863675","https://openalex.org/W2017533378","https://openalex.org/W2022193415","https://openalex.org/W2024145790","https://openalex.org/W2040378481","https://openalex.org/W2045308959","https://openalex.org/W2063005413","https://openalex.org/W2091982430","https://openalex.org/W2095885818","https://openalex.org/W2120052776","https://openalex.org/W2132240870","https://openalex.org/W2139362983","https://openalex.org/W2154101061","https://openalex.org/W2172190374","https://openalex.org/W2316251767","https://openalex.org/W2467377838","https://openalex.org/W2532146065","https://openalex.org/W3174619578","https://openalex.org/W6633601773","https://openalex.org/W6677924951"],"related_works":["https://openalex.org/W2356006086","https://openalex.org/W1973973903","https://openalex.org/W2545168295","https://openalex.org/W2365897603","https://openalex.org/W4234814094","https://openalex.org/W4303613760","https://openalex.org/W2361871310","https://openalex.org/W2417246878","https://openalex.org/W1982154684","https://openalex.org/W2156308897"],"abstract_inverted_index":{"This":[0],"paper":[1,107],"presents":[2],"a":[3,30],"new":[4],"methodology":[5],"of":[6,17,53,71,89,114,125],"attitude":[7,122],"determination":[8],"for":[9,25],"cost-effective":[10],"and":[11,22,56,62,81,117,128],"small-size":[12],"inertial":[13],"measurement":[14],"units,":[15],"consisting":[16],"tri-axial":[18],"gyroscope":[19,39],"sensors,":[20],"accelerometers":[21],"geo-magnetometers.":[23],"Introduced":[24],"the":[26,38,44,50,54,69,72,76,82,90,103],"algorithm":[27],"development":[28],"is":[29,65,93],"quaternion":[31],"feedback":[32],"structure,":[33],"where":[34],"bias":[35],"terms":[36],"in":[37,43,105],"rate":[40],"information,":[41],"appearing":[42],"phase-locked":[45],"loop,":[46],"are":[47],"identified":[48],"with":[49,112],"theoretical":[51],"guarantee":[52],"global":[55],"asymptotical":[57],"stability.":[58],"The":[59,98],"bias-term":[60],"identification":[61],"modification":[63],"process":[64],"performed":[66],"continuously":[67],"without":[68],"influence":[70],"disturbance":[73,78,115],"by":[74,96],"combining":[75],"proposed":[77],"evaluation":[79,99],"scheme":[80],"conventional":[83],"vector":[84],"matching":[85],"method.":[86],"Practical":[87],"validity":[88],"presented":[91],"framework":[92],"fully":[94],"evaluated":[95],"experiments.":[97],"result":[100],"shows":[101],"that":[102],"approach":[104],"this":[106],"can":[108],"offer":[109],"drift-free":[110],"performance":[111],"property":[113],"attenuation":[116],"rejection":[118],"under":[119],"arbitrary":[120],"high-frequency":[121],"test":[123],"motion":[124],"spatial":[126],"rotation":[127],"translation.":[129]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}