Attitude Estimation

Abstract Introduction Problem definition Background Attitude Attitude Determination from Inertial Sensors Methodology Deep Learning Model Loss Function Experiment Dataset RepoIMU T-stick RepoIMU T-pendulum Sassari OxIOD MAV Dataset EuRoC MAV TUM-VI KITTI RIDI RoNIN BROAD Training Evaluation Abstract This article discusses the importance of accurate and precise attitude determination in navigation for air and space vehicles.

Abstract Introduction Problem Defenition Literature Review Backgroud Methodology Deep Learning Model Loss Function Experiment Dataset Abstract Despite recent advancments in Micro-Electro Mechanical Systems (MEMS) inertial and magnetic sensors, percices and accurate attitude estimation is a challenging task, especillay in the existance of magnetic distubances or high dynamic motions.

Introduction Related works Problem definition Background Attitude Attitude Determination from Inertial Sensors Methodology Deep Learning Model Loss Function Experiment Dataset Introduction Achieving accurate and precise attitude determination or estimation is needed to perform successful navigation.

Quaternion Gibbs Vector / Rodrigues Parameter Representation Modified Rodrigues Parameters Cayley-Klein References: Gibbs Vector / Rodrigues Parameter Representation The Gibbs vector also known as Rodrigues Parameter is a set of three parameters denoted by $ g $ (or $ P $) and can be directly derived from axis-angle $ (e, \theta) $ or quaternion representation as follows:

Euler Angles Euler Parameters (Quaternions) representation References: Euler Parameters (Quaternions) representation A four-element vector with three imaginary and one real component is known as Quaternion. These hypercomplex numbers are optimum for numerical stability and memory load.

Attitude Representation Euler Angles Representation References: Euler Angles Representation A vector of three angles that represent the attitude of the coordinate frame $ i $ with respect to the coordinate frame $ j $ is called Euler angles.

Direction Cosine Matrix (DCM) Axis-Angle Representation References: Attitude Attitude representation is a set of coordinates that fully describe a rigid body’s orientation with respect to a reference frame. There are an infinite number of attitude representations, each of which has strengths and weaknesses.

Table of Contents Table of Contents Introduction Attitude and Attitude Terminology References Introduction Attitude determination and control play a vital role in Aerospace engineering. Most aerial or space vehicles have subsystem(s) that must be pointed to a specific direction, known as pointing modes, e.