Orientation Estimation

TE-PINN: Quaternion-Based Orientation Estimation using Transformer-Enhanced Physics-Informed Neural Networks
Novel transformer-enhanced physics-informed neural network (TE-PINN) achieving 36.8% error reduction in quaternion-based attitude estimation from IMU data. Integrates multi-head attention mechanisms with physics-based constraints (quaternion kinematics, rigid body dynamics) for robust real-time orientation estimation in high-noise, dynamic conditions.
Arman Asgharpoor Golroudbari
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