{"id":"https://openalex.org/W2055076438","doi":"https://doi.org/10.1109/tcst.2012.2213821","title":"Nonlinear Attitude Observer Based on Range and Inertial Measurements","display_name":"Nonlinear Attitude Observer Based on Range and Inertial Measurements","publication_year":2012,"publication_date":"2012-09-26","ids":{"openalex":"https://openalex.org/W2055076438","doi":"https://doi.org/10.1109/tcst.2012.2213821","mag":"2055076438"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2012.2213821","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2012.2213821","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Transactions on Control Systems Technology","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/A5000676964","display_name":"S\u00e9rgio Br\u00e1s","orcid":"https://orcid.org/0000-0002-7979-9358"},"institutions":[{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Sergio Bras","raw_affiliation_strings":["Laboratory of Robotics and Systems in Engineering and Science, Instituto Superior T\u00e9cnico, Universidade T\u00e9cnica de Lisboa, Lisbon, Portugal","Lab. of Robot. & Syst. in Eng. & Sci., Univ. Tec. de Lisboa, Lisbon, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Robotics and Systems in Engineering and Science, Instituto Superior T\u00e9cnico, Universidade T\u00e9cnica de Lisboa, Lisbon, Portugal","institution_ids":["https://openalex.org/I4387152517"]},{"raw_affiliation_string":"Lab. of Robot. & Syst. in Eng. & Sci., Univ. Tec. de Lisboa, Lisbon, Portugal","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000067769","display_name":"Rita Cunha","orcid":"https://orcid.org/0000-0002-8925-1273"},"institutions":[{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Rita Cunha","raw_affiliation_strings":["Laboratory of Robotics and Systems in Engineering and Science, Instituto Superior T\u00e9cnico, Universidade T\u00e9cnica de Lisboa, Lisbon, Portugal","Lab. of Robot. & Syst. in Eng. & Sci., Univ. Tec. de Lisboa, Lisbon, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Robotics and Systems in Engineering and Science, Instituto Superior T\u00e9cnico, Universidade T\u00e9cnica de Lisboa, Lisbon, Portugal","institution_ids":["https://openalex.org/I4387152517"]},{"raw_affiliation_string":"Lab. of Robot. & Syst. in Eng. & Sci., Univ. Tec. de Lisboa, Lisbon, Portugal","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035107160","display_name":"Carlos Silvestre","orcid":"https://orcid.org/0000-0002-5096-5527"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Carlos Jorge Silvestre","raw_affiliation_strings":["Lab. of Robot. & Syst. in Eng. & Sci., Univ. Tec. de Lisboa, Lisbon, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lab. of Robot. & Syst. in Eng. & Sci., Univ. Tec. de Lisboa, Lisbon, Portugal","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024492269","display_name":"Paulo Oliveira","orcid":"https://orcid.org/0000-0002-5799-390X"},"institutions":[{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Paulo Jorge Oliveira","raw_affiliation_strings":["Laboratory of Robotics and Systems in Engineering and Science, Instituto Superior T\u00e9cnico, Universidade T\u00e9cnica de Lisboa, Lisbon, Portugal","Lab. of Robot. & Syst. in Eng. & Sci., Univ. Tec. de Lisboa, Lisbon, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Robotics and Systems in Engineering and Science, Instituto Superior T\u00e9cnico, Universidade T\u00e9cnica de Lisboa, Lisbon, Portugal","institution_ids":["https://openalex.org/I4387152517"]},{"raw_affiliation_string":"Lab. of Robot. & Syst. in Eng. & Sci., Univ. Tec. de Lisboa, Lisbon, Portugal","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":15.0038,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.98489052,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"21","issue":"5","first_page":"1889","last_page":"1897"},"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":0.9991000294685364,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9927999973297119,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/control-theory","display_name":"Control theory (sociology)","score":0.7513705492019653},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.7417799234390259},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5934990644454956},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5881237387657166},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.5039781928062439},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4837467670440674},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.45627182722091675},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.44105201959609985},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.42209190130233765},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.34199464321136475},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20145964622497559},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.16104650497436523},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13945400714874268},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11382725834846497}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7513705492019653},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.7417799234390259},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5934990644454956},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5881237387657166},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.5039781928062439},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4837467670440674},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.45627182722091675},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.44105201959609985},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.42209190130233765},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.34199464321136475},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20145964622497559},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.16104650497436523},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13945400714874268},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11382725834846497},{"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/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/tcst.2012.2213821","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2012.2213821","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Transactions on Control Systems Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1485513406","https://openalex.org/W1544770838","https://openalex.org/W1564897360","https://openalex.org/W1968991825","https://openalex.org/W1998842416","https://openalex.org/W2062576967","https://openalex.org/W2063005413","https://openalex.org/W2070299141","https://openalex.org/W2071350455","https://openalex.org/W2071967597","https://openalex.org/W2083402998","https://openalex.org/W2107929215","https://openalex.org/W2108581205","https://openalex.org/W2112737587","https://openalex.org/W2117102490","https://openalex.org/W2117730228","https://openalex.org/W2121240694","https://openalex.org/W2123541760","https://openalex.org/W2125691646","https://openalex.org/W2136517446","https://openalex.org/W2144432156","https://openalex.org/W2146922149","https://openalex.org/W2154101061","https://openalex.org/W2157907881","https://openalex.org/W2163446304","https://openalex.org/W2164743984","https://openalex.org/W3104122060","https://openalex.org/W6642419860","https://openalex.org/W6675933666"],"related_works":["https://openalex.org/W2091018038","https://openalex.org/W2225378543","https://openalex.org/W4287122200","https://openalex.org/W2902809339","https://openalex.org/W2382856674","https://openalex.org/W2603444553","https://openalex.org/W1573497705","https://openalex.org/W3181155743","https://openalex.org/W2017146877","https://openalex.org/W2050828586"],"abstract_inverted_index":{"We":[0],"address":[1],"the":[2,33,55,61,65,76,103,122],"problem":[3],"of":[4,57,84,95,102],"attitude":[5,66],"and":[6,14,28,43,46,67],"rate":[7,62],"gyro":[8,63],"bias":[9,59,68,88],"estimation":[10],"based":[11],"on":[12,60],"inertial":[13,26],"range":[15],"data.":[16],"Range":[17],"measurements":[18],"are":[19,49,70],"obtained":[20],"from":[21],"beacons":[22],"installed":[23],"in":[24,32],"an":[25,80],"frame":[27],"acoustic":[29],"sensors":[30],"fixed":[31],"moving":[34],"body":[35],"reference":[36],"frame.":[37],"A":[38],"nonlinear":[39,105],"observer":[40,106],"is":[41,98,107],"proposed":[42,104],"its":[44],"stability":[45],"performance":[47,101],"properties":[48],"studied":[50],"using":[51,110],"Lyapunov":[52],"techniques.":[53],"In":[54],"presence":[56],"constant":[58],"measurements,":[64],"estimates":[69],"shown":[71],"to":[72,75],"converge":[73],"exponentially":[74],"desired":[77],"values":[78],"inside":[79],"almost":[81],"global":[82],"region":[83],"attraction.":[85],"For":[86],"time-varying":[87],"with":[89,121],"bounded":[90],"derivative,":[91],"a":[92,111],"local":[93],"result":[94],"ultimate":[96],"boundedness":[97],"provided.":[99],"The":[100],"validated":[108],"experimentally":[109],"high-accuracy":[112],"calibration":[113],"table,":[114],"which":[115],"provides":[116],"ground-truth":[117],"signals":[118],"for":[119],"comparison":[120],"resulting":[123],"estimates.":[124]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}