2026
Scalar-Measurement Attitude Estimation on SO(3) with Bias Compensation
Alessandro Melis, Tarek Bouazza, Hassan Alnahhal, Sifeddine Benahmed, Soulaimane Berkane, Tarek Hamel
ICRA 2026poster
Attitude estimation methods typically rely on full vector measurements from inertial sensors such as accelerometers and magnetometers. This paper shows that reliable estimation can also be achieved using only scalar measurements, which naturally arise either as components of vector readings or as in…