{"id":"https://openalex.org/W4323529969","doi":"https://doi.org/10.1109/tim.2023.3250233","title":"Uniting Attitude Estimation With Global Asymptotic Stability","display_name":"Uniting Attitude Estimation With Global Asymptotic Stability","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4323529969","doi":"https://doi.org/10.1109/tim.2023.3250233"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2023.3250233","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tim.2023.3250233","pdf_url":"https://ieeexplore.ieee.org/ielx7/19/4407674/10061701.pdf","source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Instrumentation and Measurement","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/19/4407674/10061701.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045011514","display_name":"Xin Tong","orcid":"https://orcid.org/0000-0002-6646-0638"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Xin Tong","raw_affiliation_strings":["Department of Mechanical and Automation Engineering and the Multi-Scale Medical Robotics Center, The Chinese University of Hong Kong, Shatin, New Territories, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-6646-0638","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering and the Multi-Scale Medical Robotics Center, The Chinese University of Hong Kong, Shatin, New Territories, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044404474","display_name":"Junyan Yan","orcid":"https://orcid.org/0000-0001-6271-5819"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Junyan Yan","raw_affiliation_strings":["Department of Mechanical and Automation Engineering and the CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Shatin, New Territories, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-6271-5819","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering and the CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Shatin, New Territories, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072251844","display_name":"Shing Shin Cheng","orcid":"https://orcid.org/0000-0002-9386-5497"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Shing Shin Cheng","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, Multi-Scale Medical Robotics Center, CUHK T Stone Robotics Institute, and the Shun Hing Institute of Advanced Engineering, The Chinese University of Hong Kong, Shatin, New Territories, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-9386-5497","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, Multi-Scale Medical Robotics Center, CUHK T Stone Robotics Institute, and the Shun Hing Institute of Advanced Engineering, The Chinese University of Hong Kong, Shatin, New Territories, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":18.205,"has_fulltext":true,"cited_by_count":25,"citation_normalized_percentile":{"value":0.98900022,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"72","issue":null,"first_page":"1","last_page":"10"},"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":0.9972000122070312,"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":0.991599977016449,"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/exponential-stability","display_name":"Exponential stability","score":0.5964826941490173},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5372927188873291},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47435224056243896},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.43579554557800293},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41641396284103394},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3417760133743286},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32088303565979004},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19649428129196167},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1869886815547943},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.13689523935317993},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.11353188753128052},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.10745018720626831},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0927416980266571}],"concepts":[{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.5964826941490173},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5372927188873291},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47435224056243896},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.43579554557800293},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41641396284103394},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3417760133743286},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32088303565979004},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19649428129196167},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1869886815547943},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.13689523935317993},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.11353188753128052},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.10745018720626831},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0927416980266571},{"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/tim.2023.3250233","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tim.2023.3250233","pdf_url":"https://ieeexplore.ieee.org/ielx7/19/4407674/10061701.pdf","source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/tim.2023.3250233","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tim.2023.3250233","pdf_url":"https://ieeexplore.ieee.org/ielx7/19/4407674/10061701.pdf","source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Instrumentation and Measurement","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2732972661","display_name":null,"funder_award_id":"BME-p7-20","funder_id":"https://openalex.org/F4320335138","funder_display_name":"Shun Hing Institute of Advanced Engineering"},{"id":"https://openalex.org/G2814991790","display_name":null,"funder_award_id":"CUHK 14217822","funder_id":"https://openalex.org/F4320321592","funder_display_name":"Research Grants Council, University Grants Committee"},{"id":"https://openalex.org/G484222794","display_name":null,"funder_award_id":"CUHK 24201219","funder_id":"https://openalex.org/F4320321592","funder_display_name":"Research Grants Council, University Grants Committee"},{"id":"https://openalex.org/G5752365165","display_name":"Video Analysis for Automated Surgical Skill Assessment in Cataract Surgery","funder_award_id":"ITS/233/21","funder_id":"https://openalex.org/F4320321920","funder_display_name":"Innovation and Technology Commission"},{"id":"https://openalex.org/G6022541839","display_name":"Development of a Novel Gastric Simulator for Endoscopic Skill Training and Evaluation","funder_award_id":"ITS/135/20","funder_id":"https://openalex.org/F4320321920","funder_display_name":"Innovation and Technology Commission"},{"id":"https://openalex.org/G7698113109","display_name":"A Robotic Needle System with Integrated Tracking for Endoscopic Ultrasound-guided Fine Needle Biopsy","funder_award_id":"ITS/234/21","funder_id":"https://openalex.org/F4320321920","funder_display_name":"Innovation and Technology Commission"},{"id":"https://openalex.org/G8178918150","display_name":"A Flexible Endoscope For The Robot-Assisted Bimanual Functional Endoscopic Sinus Surgery","funder_award_id":"ITS/136/20","funder_id":"https://openalex.org/F4320321920","funder_display_name":"Innovation and Technology Commission"}],"funders":[{"id":"https://openalex.org/F4320321592","display_name":"Research Grants Council, University Grants Committee","ror":"https://ror.org/00djwmt25"},{"id":"https://openalex.org/F4320321920","display_name":"Innovation and Technology Commission","ror":"https://ror.org/04vf9tr09"},{"id":"https://openalex.org/F4320322942","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48"},{"id":"https://openalex.org/F4320335138","display_name":"Shun Hing Institute of Advanced Engineering","ror":"https://ror.org/00t33hh48"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4323529969.pdf","grobid_xml":"https://content.openalex.org/works/W4323529969.grobid-xml"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W1943808550","https://openalex.org/W1969351128","https://openalex.org/W2036131280","https://openalex.org/W2046287268","https://openalex.org/W2053442363","https://openalex.org/W2117730228","https://openalex.org/W2125691646","https://openalex.org/W2128972576","https://openalex.org/W2154101061","https://openalex.org/W2292586222","https://openalex.org/W2335581866","https://openalex.org/W2614898534","https://openalex.org/W2739590438","https://openalex.org/W2767797175","https://openalex.org/W2808933661","https://openalex.org/W2909513358","https://openalex.org/W2914639644","https://openalex.org/W2950202372","https://openalex.org/W2962965379","https://openalex.org/W2963544512","https://openalex.org/W2964040760","https://openalex.org/W2973138163","https://openalex.org/W2986997237","https://openalex.org/W3010897173","https://openalex.org/W3039004277","https://openalex.org/W3080570628","https://openalex.org/W3105104456","https://openalex.org/W3121055581","https://openalex.org/W3135201915","https://openalex.org/W3135383801","https://openalex.org/W3137029854","https://openalex.org/W3181546004","https://openalex.org/W3190875045","https://openalex.org/W3195042091","https://openalex.org/W3198670325","https://openalex.org/W3201487808","https://openalex.org/W4210450858","https://openalex.org/W4225925805"],"related_works":["https://openalex.org/W1982160337","https://openalex.org/W1971380437","https://openalex.org/W1983548084","https://openalex.org/W2141691317","https://openalex.org/W2110846987","https://openalex.org/W2160609742","https://openalex.org/W2979526210","https://openalex.org/W2576994247","https://openalex.org/W1997414638","https://openalex.org/W1593898832"],"abstract_inverted_index":{"This":[0],"paper":[1],"approaches":[2],"the":[3,46,55,100,107],"problem":[4],"of":[5,14,30,37,113],"attitude":[6,22,66],"estimation":[7,23,67],"using":[8],"biased":[9],"gyro":[10],"and":[11,103,121],"body-referenced":[12],"measurements":[13],"inertial":[15],"vectors.":[16],"First,":[17],"a":[18,28,86],"new":[19,96],"observer":[20,60,84,98],"for":[21,64],"is":[24,42],"proposed":[25,59,114],"through":[26],"introducing":[27],"family":[29],"synergistic":[31,38],"potential":[32],"functions":[33],"with":[34,85],"explicit":[35],"expression":[36],"gap.":[39],"Furthermore,":[40],"it":[41],"convenient":[43],"to":[44,75],"adjust":[45],"design":[47],"by":[48],"adding":[49],"additional":[50],"state-dependent":[51],"gains":[52],"without":[53],"adapting":[54],"switching":[56],"rules.":[57],"The":[58,95,111],"exhibits":[61],"faster":[62],"convergence":[63],"large":[65],"errors":[68],"than":[69],"similar":[70],"work":[71],"in":[72],"literature.":[73],"Second,":[74],"achieve":[76],"better":[77],"steady-state":[78,104],"performance,":[79],"we":[80],"unite":[81],"this":[82],"global":[83],"traditional":[87],"local":[88],"observer,":[89],"i.e.,":[90],"multiplicative":[91],"extended":[92],"Kalman":[93],"filter.":[94],"uniting":[97],"inherits":[99],"desired":[101],"transient":[102],"performance":[105,112],"from":[106],"two":[108],"sub-observers":[109],"respectively.":[110],"methods":[115],"has":[116],"been":[117],"evaluated":[118],"via":[119],"simulation":[120],"experiments.":[122]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}