Complementary Filtering on SO(3) for Attitude Estimation with Scalar Measurements

arXiv:2604.08099 · eess.SY, cs.RO, cs.SY · Submitted 2026-04-09 · Read on arXiv

eess.SY, cs.RO, cs.SY

Submitted: 2026-04-09

Updated: 2026-09-17

Comments: Accepted to the 65th IEEE Conference on Decision and Control (CDC 2026)

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Trace — 3× in this paper · explained in 2 episodes
• Lyapunov function — 2× in this paper · explained in 2 episodes
• Calibration — 1× in this paper · explained in 7 episodes

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