A scalar-output complementary filter on SO(3) recovers almost-global asymptotic stability for attitude estimation when at least three inertial vectors are measured along one common body-frame direction under persistence of excitation.
Scalar-measurement attitude estimation onSO(3) with bias compensation
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Complementary Filtering on SO(3) for Attitude Estimation with Scalar Measurements
A scalar-output complementary filter on SO(3) recovers almost-global asymptotic stability for attitude estimation when at least three inertial vectors are measured along one common body-frame direction under persistence of excitation.