Designs a deterministic Riccati observer on an LTV model from SE_2(3) relative dynamics guaranteeing global exponential convergence under persistence-of-excitation on target acceleration, plus an almost globally stable SO(3) complementary filter for orientation.
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Relative Pose-Velocity Estimation Using Dual IMU Measurements and Relative Position Sensing
Designs a deterministic Riccati observer on an LTV model from SE_2(3) relative dynamics guaranteeing global exponential convergence under persistence-of-excitation on target acceleration, plus an almost globally stable SO(3) complementary filter for orientation.