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Attitude Estimation Using Scalar Measurements
Hassan Alnahhal, Sifeddine Benahmed, Soulaimane Berkane, Tarel Hamel
https://arxiv.org/abs/2506.07068 https:/…

Attitude Estimation Using Scalar Measurements
This paper revisits the problem of orientation estimation for rigid bodies through a novel framework based on scalar measurements. Unlike traditional vector-based methods, the proposed approach enables selective utilization of only the reliable axes of vector measurements while seamlessly incorporating alternative scalar modalities such as Pitot tubes, barometers with range sensors, and landmark-based constraints. The estimation problem is reformulated within a linear time-varying (LTV) framewo…