This tutorial presents the factor graph, a recently introduced estimation framework that is a
generalization of the Kalman filter. An approach for constructing a factor graph, with its …

ATTITUDE estimation involves a two-part process: 1) estimation of a vehicle's orientation
from body measurements and known reference observations, such as line-of-sight …

The application of soft computing techniques can be largely found in engineering sciences.
These include the design and optimization of navigation systems for use in land, sea, and air …

In this paper, a smoothing algorithm for compensating inertial sensor saturation is proposed.
The sensor saturation happens when a sensor measures a value that is larger than its …

Redundant attitude representations are often used in Kalman filters for estimating dynamic
states that include an attitude. A minimal three-element attitude deviation is combined with a …

A novel quaternion estimator called square-root quaternion cubature Kalman filter is
proposed for spacecraft attitude estimation. The filter approach uses a gyro-based model for …

A strategy is presented for exploiting the frequency stability, transmit location, and timing
information of ambient radio-frequency “signals of opportunity” for the purpose of navigating …

This paper presents a sensor fusion method based on the combination of cubature Kalman
filter (CKF) and fuzzy logic adaptive system (FLAS) for the integrated navigation systems …

Advanced missions of satellites are increasingly demanding more accurate and robust
attitude maneuvering capabilities. However, it is difficult to achieve especially for small …

This letter presents an invariant Rauch-Tung-Striebel (IRTS) smoother applicable to systems
with states that are an element of a matrix Lie group. In particular, the extended Rauch-Tung …