Pith Number

pith:4SNBH2BY

pith:2026:4SNBH2BYDPMYSPJ2OYCXJKBDRJ

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Relative Pose-Velocity Estimation Using Dual IMU Measurements and Relative Position Sensing

Alessandro Melis, Soulaimane Berkane, Tarek Bouazza, Tarek Hamel

Relative pose and velocity between a vehicle and moving target can be estimated with global exponential convergence from dual IMUs and relative position measurements when target acceleration satisfies a persistence-of-excitation condition.

arxiv:2605.13031 v1 · 2026-05-13 · eess.SY · cs.RO · cs.SY

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Claims

C1strongest claim

We analyze the uniform observability (UO) conditions required to guarantee global exponential convergence of the estimation error in the ambient space for both measurement cases. In the case of relative position measurements, UO requires only a persistence-of-excitation condition on the target acceleration.

C2weakest assumption

The persistence-of-excitation condition on the target acceleration (for relative position measurements) together with the validity of recasting the SE_2(3) nonlinear dynamics into an exact LTV model in R^15.

C3one line summary

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.

References

21 extracted · 21 resolved · 0 Pith anchors

[1] Nonlinear Attitude Estimation Using Intermittent Linear Velocity and Vector Measurements , year =

[2] Solution methods to the nearest rotation matrix problem in

[3] Nonlinear Complementary Filters on the Special Orthogonal Group , volume =

[4] Synchronous observer design for Inertial Navigation Systems with almost-global convergence , volume =

[5] Position estimation from direction or range measurements , volume =

Receipt and verification

First computed	2026-05-18T03:08:59.734448Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

e49a13e8381bd9893d3a760574a8238a7146b3d4c1ecc4dcd5ff3ff26cfe5fbc

Aliases

arxiv: 2605.13031 · arxiv_version: 2605.13031v1 · doi: 10.48550/arxiv.2605.13031 · pith_short_12: 4SNBH2BYDPMY · pith_short_16: 4SNBH2BYDPMYSPJ2 · pith_short_8: 4SNBH2BY

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curl -sH 'Accept: application/ld+json' https://pith.science/pith/4SNBH2BYDPMYSPJ2OYCXJKBDRJ \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: e49a13e8381bd9893d3a760574a8238a7146b3d4c1ecc4dcd5ff3ff26cfe5fbc

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ea5214fa12eaccd0c403884a165409fab07799c07a0b73c839a6c86d4c213c7c",
    "cross_cats_sorted": [
      "cs.RO",
      "cs.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2026-05-13T05:36:10Z",
    "title_canon_sha256": "16e23a00854815091d3b4492a7b99d4743e8272c2bb2cd7fe8c7abab431a0be3"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.13031",
    "kind": "arxiv",
    "version": 1
  }
}