zbMATH — the first resource for mathematics

Examples
Geometry Search for the term Geometry in any field. Queries are case-independent.
Funct* Wildcard queries are specified by * (e.g. functions, functorial, etc.). Otherwise the search is exact.
"Topological group" Phrases (multi-words) should be set in "straight quotation marks".
au: Bourbaki & ti: Algebra Search for author and title. The and-operator & is default and can be omitted.
Chebyshev | Tschebyscheff The or-operator | allows to search for Chebyshev or Tschebyscheff.
"Quasi* map*" py: 1989 The resulting documents have publication year 1989.
so: Eur* J* Mat* Soc* cc: 14 Search for publications in a particular source with a Mathematics Subject Classification code (cc) in 14.
"Partial diff* eq*" ! elliptic The not-operator ! eliminates all results containing the word elliptic.
dt: b & au: Hilbert The document type is set to books; alternatively: j for journal articles, a for book articles.
py: 2000-2015 cc: (94A | 11T) Number ranges are accepted. Terms can be grouped within (parentheses).
la: chinese Find documents in a given language. ISO 639-1 language codes can also be used.

Operators
a & b logic and
a | b logic or
!ab logic not
abc* right wildcard
"ab c" phrase
(ab c) parentheses
Fields
any anywhere an internal document identifier
au author, editor ai internal author identifier
ti title la language
so source ab review, abstract
py publication year rv reviewer
cc MSC code ut uncontrolled term
dt document type (j: journal article; b: book; a: book article)
Drift-free attitude estimation for accelerated rigid bodies. (English) Zbl 1168.93403
A rigid body, moving in the inertial space in the presence of gravity, is supplied with 3-axes gyro and 3-axis accelerometer. The gyro measures the angular velocity in the body fixed frame and the accelerometer measures the sum of inertial forces and gravity in this frame. The body rotation kinematics is written in the linear form by use of equations, describing moving of the vertical unit vector in the body fixed frame. It makes possible to apply a linear Kalman filter for the body attitude estimation. The proposed switching algorithm consists of two modes: one for low and one for high accelerations. The gyro drift is neglected in the analysis, but simulations show, that the algorithm can work with gyro biases. These results are aimed at the application for walking robots.
MSC:
93E10Estimation and detection in stochastic control
93E11Filtering in stochastic control
93C10Nonlinear control systems
70Q05Control of mechanical systems (general mechanics)