{"id":"https://openalex.org/W2912095538","doi":"https://doi.org/10.1109/lra.2019.2894220","title":"Inertial Yaw-Independent Velocity and Attitude Estimation for High-Speed Quadrotor Flight","display_name":"Inertial Yaw-Independent Velocity and Attitude Estimation for High-Speed Quadrotor Flight","publication_year":2019,"publication_date":"2019-01-22","ids":{"openalex":"https://openalex.org/W2912095538","doi":"https://doi.org/10.1109/lra.2019.2894220","mag":"2912095538"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2894220","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2894220","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","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/A5018263536","display_name":"James Svacha","orcid":"https://orcid.org/0000-0002-7222-2855"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"James Svacha","raw_affiliation_strings":["GRASP Lab, University of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Lab, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077485450","display_name":"Giuseppe Loianno","orcid":"https://orcid.org/0000-0002-3263-5401"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Giuseppe Loianno","raw_affiliation_strings":["Tandon School of Engineering, New York University, Brooklyn, NY, USA"],"affiliations":[{"raw_affiliation_string":"Tandon School of Engineering, New York University, Brooklyn, NY, USA","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087021192","display_name":"Vijay Kumar","orcid":"https://orcid.org/0000-0002-3902-9391"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vijay Kumar","raw_affiliation_strings":["GRASP Lab, University of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Lab, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5018263536"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":6.3472,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.95910521,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"4","issue":"2","first_page":"1109","last_page":"1116"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","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/T11325","display_name":"Inertial Sensor and Navigation","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/T10191","display_name":"Robotics and Sensor-Based Localization","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"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9962999820709229,"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/euler-angles","display_name":"Euler angles","score":0.7212012410163879},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7137863636016846},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6059545874595642},{"id":"https://openalex.org/keywords/accelerometer","display_name":"Accelerometer","score":0.5631996393203735},{"id":"https://openalex.org/keywords/yaw","display_name":"Yaw","score":0.5329053997993469},{"id":"https://openalex.org/keywords/drag","display_name":"Drag","score":0.5147373676300049},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4745886027812958},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.47397392988204956},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.46808940172195435},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24663254618644714},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.22605735063552856},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.21032217144966125},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19773930311203003},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.18409544229507446}],"concepts":[{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.7212012410163879},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7137863636016846},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6059545874595642},{"id":"https://openalex.org/C89805583","wikidata":"https://www.wikidata.org/wiki/Q192940","display_name":"Accelerometer","level":2,"score":0.5631996393203735},{"id":"https://openalex.org/C206831581","wikidata":"https://www.wikidata.org/wiki/Q9288712","display_name":"Yaw","level":2,"score":0.5329053997993469},{"id":"https://openalex.org/C72921944","wikidata":"https://www.wikidata.org/wiki/Q206621","display_name":"Drag","level":2,"score":0.5147373676300049},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4745886027812958},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.47397392988204956},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.46808940172195435},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24663254618644714},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.22605735063552856},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.21032217144966125},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19773930311203003},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.18409544229507446},{"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},{"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2019.2894220","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2894220","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.7200000286102295}],"awards":[{"id":"https://openalex.org/G1932728912","display_name":null,"funder_award_id":"IIS-1426840","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G2854993585","display_name":null,"funder_award_id":"N00014-14-1-0510","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G4158061278","display_name":null,"funder_award_id":"IIS-1138847","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5397883260","display_name":null,"funder_award_id":"W911NF-13-1-0350","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G5689811493","display_name":null,"funder_award_id":"W911NF-17-2-0181","funder_id":"https://openalex.org/F4320338295","funder_display_name":"Army Research Laboratory"},{"id":"https://openalex.org/G5994615915","display_name":null,"funder_award_id":"N00014-07-1-0829","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"},{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"},{"id":"https://openalex.org/F4320338295","display_name":"Army Research Laboratory","ror":"https://ror.org/011hc8f90"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1498041548","https://openalex.org/W1532362218","https://openalex.org/W1775300292","https://openalex.org/W1968917201","https://openalex.org/W1973835491","https://openalex.org/W1984190176","https://openalex.org/W2006490107","https://openalex.org/W2034043440","https://openalex.org/W2059693904","https://openalex.org/W2060794637","https://openalex.org/W2130103520","https://openalex.org/W2140998418","https://openalex.org/W2158884168","https://openalex.org/W2331725058","https://openalex.org/W2557430988","https://openalex.org/W2608018532","https://openalex.org/W2886859862","https://openalex.org/W2911098668","https://openalex.org/W3101664691","https://openalex.org/W6631707545","https://openalex.org/W6638077268","https://openalex.org/W6679388247","https://openalex.org/W6754243933"],"related_works":["https://openalex.org/W1973973903","https://openalex.org/W2992410632","https://openalex.org/W2768717251","https://openalex.org/W2025756212","https://openalex.org/W2982521819","https://openalex.org/W3204814100","https://openalex.org/W2382856674","https://openalex.org/W3144671390","https://openalex.org/W4206599012","https://openalex.org/W2186317423"],"abstract_inverted_index":{"This":[0,20],"letter":[1],"addresses":[2],"the":[3,36,42,47,54,93,101,106,112,115,135,143,155,161,170,185,188],"velocity":[4,37,73,104,116,157],"and":[5,14,69,74,103,117,158,175],"attitude":[6,75,94,118,159],"estimation":[7,76],"of":[8,111,187],"a":[9,25,30,96,146,181],"quadrotor":[10,182],"using":[11,154],"motor":[12],"speeds":[13],"inertial":[15],"measurement":[16],"unit":[17],"(IMU)":[18],"data.":[19],"result":[21],"is":[22,165],"obtained":[23,127],"through":[24,41],"novel":[26],"filter":[27],"that":[28],"employs":[29],"first-order":[31],"drag":[32,43,173],"model,":[33],"which":[34],"allows":[35],"to":[38,57,141,168],"be":[39,139],"observed":[40],"forces":[44,50],"acting":[45],"on":[46,134,180],"quadrotor.":[48],"These":[49],"are":[51,120],"measured":[52],"with":[53],"IMU.":[55],"Compared":[56],"our":[58],"previous":[59],"contribution":[60],"[J.":[61],"Svacha,":[62],"K.":[63],"Mohta,":[64],"M.":[65],"Watterson,":[66],"G.":[67],"Loianno,":[68],"V.":[70],"Kumar,":[71],"\u201cInertial":[72],"for":[77],"quadrotors,\u201d":[78],"in":[79,100,105,145],"Proc.":[80],"IEEE/RSJ":[81],"Int.":[82],"Conf.":[83],"Intell.":[84],"Robots":[85],"Syst.":[86],",":[87],"Oct.":[88],"2018,":[89],"pp.":[90],"1-9.],":[91],"decoupling":[92],"into":[95],"yaw-tilt":[97],"convention":[98],"results":[99,179],"tilt":[102],"body-fixed":[107],"frame":[108],"being":[109],"independent":[110],"yaw.":[113],"Thus,":[114],"estimates":[119],"no":[121],"longer":[122],"affected":[123],"by":[124],"yaw":[125,144],"drifts":[126],"from":[128,160],"dead-reckoning":[129],"procedures.":[130],"The":[131,163],"camera":[132],"available":[133],"vehicle":[136],"can":[137],"optionally":[138],"employed":[140],"recover":[142],"computationally":[147],"efficient":[148],"way":[149],"without":[150],"requiring":[151],"RANSAC,":[152],"instead":[153],"estimated":[156],"filter.":[162],"IMU":[164],"concurrently":[166],"used":[167],"estimate":[169],"thrust,":[171],"linear":[172],"coefficients,":[174],"accelerometer":[176],"biases.":[177],"Experimental":[178],"platform":[183],"show":[184],"feasibility":[186],"proposed":[189],"approach.":[190]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}