{"id":"https://openalex.org/W2104982323","doi":"https://doi.org/10.3390/s131115138","title":"A Robust Nonlinear Observer for Real-Time Attitude Estimation Using Low-Cost MEMS Inertial Sensors","display_name":"A Robust Nonlinear Observer for Real-Time Attitude Estimation Using Low-Cost MEMS Inertial Sensors","publication_year":2013,"publication_date":"2013-11-06","ids":{"openalex":"https://openalex.org/W2104982323","doi":"https://doi.org/10.3390/s131115138","mag":"2104982323","pmid":"https://pubmed.ncbi.nlm.nih.gov/24201316"},"language":"en","primary_location":{"id":"doi:10.3390/s131115138","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s131115138","pdf_url":"https://www.mdpi.com/1424-8220/13/11/15138/pdf?version=1403337912","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/13/11/15138/pdf?version=1403337912","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080927564","display_name":"J. Fermi Guerrero\u2010Castellanos","orcid":"https://orcid.org/0000-0003-4239-6149"},"institutions":[{"id":"https://openalex.org/I721619","display_name":"Benem\u00e9rita Universidad Aut\u00f3noma de Puebla","ror":"https://ror.org/03p2z7827","country_code":"MX","type":"education","lineage":["https://openalex.org/I721619"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Jos\u00e9 Guerrero-Castellanos","raw_affiliation_strings":["Faculty of Electronic, Autonomous University of Puebla (BUAP), Ciudad universitaria, Puebla 72570, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electronic, Autonomous University of Puebla (BUAP), Ciudad universitaria, Puebla 72570, Mexico","institution_ids":["https://openalex.org/I721619"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002152667","display_name":"H. Madrigal-Sastre","orcid":null},"institutions":[{"id":"https://openalex.org/I721619","display_name":"Benem\u00e9rita Universidad Aut\u00f3noma de Puebla","ror":"https://ror.org/03p2z7827","country_code":"MX","type":"education","lineage":["https://openalex.org/I721619"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Heberto Madrigal-Sastre","raw_affiliation_strings":["Faculty of Electronic, Autonomous University of Puebla (BUAP), Ciudad universitaria, Puebla 72570, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electronic, Autonomous University of Puebla (BUAP), Ciudad universitaria, Puebla 72570, Mexico","institution_ids":["https://openalex.org/I721619"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101487072","display_name":"Sylvain Durand","orcid":"https://orcid.org/0000-0003-1529-098X"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210124956","display_name":"GIPSA-Lab","ror":"https://ror.org/02wrme198","country_code":"FR","type":"facility","lineage":["https://openalex.org/I106785703","https://openalex.org/I1294671590","https://openalex.org/I4210124956","https://openalex.org/I899635006","https://openalex.org/I899635006"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Sylvain Durand","raw_affiliation_strings":["Control Systems Department, GIPSA-lab laboratory, CNRS-University of Grenoble, ENSE3 BP 46, St Martin d'H\u00e8res Cedex 38402, France"],"raw_orcid":"https://orcid.org/0000-0003-1529-098X","affiliations":[{"raw_affiliation_string":"Control Systems Department, GIPSA-lab laboratory, CNRS-University of Grenoble, ENSE3 BP 46, St Martin d'H\u00e8res Cedex 38402, France","institution_ids":["https://openalex.org/I4210124956","https://openalex.org/I899635006","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014280484","display_name":"Lizeth Torres","orcid":"https://orcid.org/0000-0002-4937-4586"},"institutions":[{"id":"https://openalex.org/I8961855","display_name":"Universidad Nacional Aut\u00f3noma de M\u00e9xico","ror":"https://ror.org/01tmp8f25","country_code":"MX","type":"education","lineage":["https://openalex.org/I8961855"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Lizeth Torres","raw_affiliation_strings":["Engineering Institute, Autonomous University of Mexico (UNAM), Circuito Escolar, Ciudad Universitaria, Mexico D.F. 04510, Mexico"],"raw_orcid":"https://orcid.org/0000-0002-4937-4586","affiliations":[{"raw_affiliation_string":"Engineering Institute, Autonomous University of Mexico (UNAM), Circuito Escolar, Ciudad Universitaria, Mexico D.F. 04510, Mexico","institution_ids":["https://openalex.org/I8961855"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058434684","display_name":"German Ardul Mu\u00f1oz-Hern\u00e1ndez","orcid":"https://orcid.org/0000-0003-4861-0345"},"institutions":[{"id":"https://openalex.org/I721619","display_name":"Benem\u00e9rita Universidad Aut\u00f3noma de Puebla","ror":"https://ror.org/03p2z7827","country_code":"MX","type":"education","lineage":["https://openalex.org/I721619"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"German Mu\u00f1oz-Hern\u00e1ndez","raw_affiliation_strings":["Faculty of Electronic, Autonomous University of Puebla (BUAP), Ciudad universitaria, Puebla 72570, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electronic, Autonomous University of Puebla (BUAP), Ciudad universitaria, Puebla 72570, Mexico","institution_ids":["https://openalex.org/I721619"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5080927564"],"corresponding_institution_ids":["https://openalex.org/I721619"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":83.9282,"has_fulltext":true,"cited_by_count":32,"citation_normalized_percentile":{"value":0.99742316,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"13","issue":"11","first_page":"15138","last_page":"15158"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9886000156402588,"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/T14163","display_name":"Astronomical Observations and Instrumentation","score":0.9872999787330627,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7445451021194458},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.69413161277771},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.6492637991905212},{"id":"https://openalex.org/keywords/microelectromechanical-systems","display_name":"Microelectromechanical systems","score":0.6083968281745911},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5743518471717834},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5434664487838745},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5006606578826904},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.46723324060440063},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3614739179611206},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3445097804069519},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19491541385650635},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11776906251907349}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7445451021194458},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.69413161277771},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.6492637991905212},{"id":"https://openalex.org/C37977207","wikidata":"https://www.wikidata.org/wiki/Q175561","display_name":"Microelectromechanical systems","level":2,"score":0.6083968281745911},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5743518471717834},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5434664487838745},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5006606578826904},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.46723324060440063},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3614739179611206},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3445097804069519},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19491541385650635},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11776906251907349},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s131115138","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s131115138","pdf_url":"https://www.mdpi.com/1424-8220/13/11/15138/pdf?version=1403337912","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:24201316","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/24201316","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:59e2bfe84c7742cc876f69097d8d3575","is_oa":true,"landing_page_url":"https://doaj.org/article/59e2bfe84c7742cc876f69097d8d3575","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 13, Iss 11, Pp 15138-15158 (2013)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:2855295","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/3869990","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"},{"id":"pmh:oai:mdpi.com:/1424-8220/13/11/15138/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s131115138","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors; Volume 13; Issue 11; Pages: 15138-15158","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s131115138","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s131115138","pdf_url":"https://www.mdpi.com/1424-8220/13/11/15138/pdf?version=1403337912","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320323791","display_name":"Benem\u00e9rita Universidad Aut\u00f3noma de Puebla","ror":"https://ror.org/03p2z7827"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2104982323.pdf","grobid_xml":"https://content.openalex.org/works/W2104982323.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W196239571","https://openalex.org/W566443111","https://openalex.org/W608630856","https://openalex.org/W1500564636","https://openalex.org/W1570709545","https://openalex.org/W1579760994","https://openalex.org/W1968991825","https://openalex.org/W1991126170","https://openalex.org/W1998716492","https://openalex.org/W2000684887","https://openalex.org/W2007751090","https://openalex.org/W2016972634","https://openalex.org/W2020496717","https://openalex.org/W2033819227","https://openalex.org/W2036826525","https://openalex.org/W2046414826","https://openalex.org/W2063005413","https://openalex.org/W2067043745","https://openalex.org/W2071350455","https://openalex.org/W2096681827","https://openalex.org/W2106518784","https://openalex.org/W2107962881","https://openalex.org/W2115930333","https://openalex.org/W2124849494","https://openalex.org/W2132131672","https://openalex.org/W2134858417","https://openalex.org/W2154101061","https://openalex.org/W2165626406","https://openalex.org/W2166940739","https://openalex.org/W2168573970","https://openalex.org/W2209124607","https://openalex.org/W2467377838","https://openalex.org/W3185673867","https://openalex.org/W6607981818","https://openalex.org/W6674684578"],"related_works":["https://openalex.org/W2272290532","https://openalex.org/W2091018038","https://openalex.org/W2902809339","https://openalex.org/W2382856674","https://openalex.org/W4394645770","https://openalex.org/W2017146877","https://openalex.org/W2603444553","https://openalex.org/W3181155743","https://openalex.org/W2050828586","https://openalex.org/W2142003981"],"abstract_inverted_index":{"This":[0],"paper":[1],"deals":[2],"with":[3,12,108,143],"the":[4,40,46,68,75,84,87,96,109],"attitude":[5],"estimation":[6,38],"of":[7,39,113],"a":[8,135,144],"rigid":[9],"body":[10],"equipped":[11],"angular":[13],"velocity":[14],"sensors":[15,133],"and":[16,33,83,111,116,131,134],"reference":[17],"vector":[18],"sensors.":[19],"A":[20],"quaternion-based":[21],"nonlinear":[22],"observer":[23,47,97,103],"is":[24,43,63,71,78,98,104],"proposed":[25,102],"in":[26,58,106],"order":[27],"to":[28,34,65,93,149],"fuse":[29],"all":[30],"information":[31],"sources":[32],"obtain":[35],"an":[36,81,114],"accurate":[37],"attitude.":[41],"It":[42],"shown":[44],"that":[45,67,95],"error":[48,69,85],"dynamics":[49,70],"can":[50],"be":[51],"separated":[52],"into":[53],"two":[54],"passive":[55],"subsystems":[56],"connected":[57],"\"feedback\".":[59],"Then,":[60],"this":[61],"property":[62],"used":[64],"show":[66],"input-to-state":[72],"stable":[73],"when":[74],"measurement":[76],"disturbance":[77],"seen":[79],"as":[80,86],"input":[82],"state.":[88],"These":[89],"results":[90],"allow":[91],"one":[92],"affirm":[94],"\"robustly":[99],"stable\".":[100],"The":[101,138],"evaluated":[105],"real-time":[107],"design":[110],"implementation":[112],"Attitude":[115],"Heading":[117],"Reference":[118],"System":[119],"(AHRS)":[120],"based":[121],"on":[122],"low-cost":[123],"MEMS":[124],"(Micro-Electro-Mechanical":[125],"Systems)":[126],"Inertial":[127],"Measure":[128],"Unit":[129],"(IMU)":[130],"magnetic":[132],"16-bit":[136],"microcontroller.":[137],"resulting":[139],"estimates":[140],"are":[141],"compared":[142],"high":[145],"precision":[146],"motion":[147],"system":[148],"demonstrate":[150],"its":[151],"performance.":[152]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}