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Angular Velocity and Linear Acceleration Measurement Bias Estimators for the Rigid Body System With Global Exponential Convergence.

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Title: Angular Velocity and Linear Acceleration Measurement Bias Estimators for the Rigid Body System With Global Exponential Convergence.
Authors: Shanbhag, Soham1 (AUTHOR), Chang, Dong Eui1 (AUTHOR) dechang@kaist.ac.kr
Source: International Journal of Robust & Nonlinear Control. 3/25/2026, Vol. 36 Issue 5, p2819-2826. 8p.
Subjects: Angular velocity, Linear acceleration, Rigid bodies, Riccati equation, Accelerometers, Measurement errors, Inertial navigation systems, Exponential stability
Abstract: Rigid body systems usually consider measurements of the pose of the body using onboard cameras/LiDAR systems, that of linear acceleration using an accelerometer and of angular velocity using an IMU. However, the measurements of the linear acceleration and angular velocity are usually biased with an unknown constant or slowly varying bias. Estimating this bias is important to recover the true linear acceleration and angular velocity of the system. We propose two measurement bias estimators for such systems under assumption of boundedness of angular velocity. We also provide continuous estimates of the linear velocity of the system. These estimates are globally exponentially convergent to the true state of the rigid body system. The first observer assumes knowledge of bounds of the angular velocity, while the second observer uses a Riccati observer to overcome this limitation. We validate that the observer is able to estimate the bias using numerical simulations and experimental data collected from an Intel Realsense camera. [ABSTRACT FROM AUTHOR]
Copyright of International Journal of Robust & Nonlinear Control is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Engineering Source
FullText Text:
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Header DbId: egs
DbLabel: Engineering Source
An: 191517363
AccessLevel: 6
PubType: Academic Journal
PubTypeId: academicJournal
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  Data: Angular Velocity and Linear Acceleration Measurement Bias Estimators for the Rigid Body System With Global Exponential Convergence.
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  Data: <searchLink fieldCode="AR" term="%22Shanbhag%2C+Soham%22">Shanbhag, Soham</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Chang%2C+Dong+Eui%22">Chang, Dong Eui</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> dechang@kaist.ac.kr</i>
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  Data: <searchLink fieldCode="JN" term="%22International+Journal+of+Robust+%26+Nonlinear+Control%22">International Journal of Robust & Nonlinear Control</searchLink>. 3/25/2026, Vol. 36 Issue 5, p2819-2826. 8p.
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  Data: <searchLink fieldCode="DE" term="%22Angular+velocity%22">Angular velocity</searchLink><br /><searchLink fieldCode="DE" term="%22Linear+acceleration%22">Linear acceleration</searchLink><br /><searchLink fieldCode="DE" term="%22Rigid+bodies%22">Rigid bodies</searchLink><br /><searchLink fieldCode="DE" term="%22Riccati+equation%22">Riccati equation</searchLink><br /><searchLink fieldCode="DE" term="%22Accelerometers%22">Accelerometers</searchLink><br /><searchLink fieldCode="DE" term="%22Measurement+errors%22">Measurement errors</searchLink><br /><searchLink fieldCode="DE" term="%22Inertial+navigation+systems%22">Inertial navigation systems</searchLink><br /><searchLink fieldCode="DE" term="%22Exponential+stability%22">Exponential stability</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: Rigid body systems usually consider measurements of the pose of the body using onboard cameras/LiDAR systems, that of linear acceleration using an accelerometer and of angular velocity using an IMU. However, the measurements of the linear acceleration and angular velocity are usually biased with an unknown constant or slowly varying bias. Estimating this bias is important to recover the true linear acceleration and angular velocity of the system. We propose two measurement bias estimators for such systems under assumption of boundedness of angular velocity. We also provide continuous estimates of the linear velocity of the system. These estimates are globally exponentially convergent to the true state of the rigid body system. The first observer assumes knowledge of bounds of the angular velocity, while the second observer uses a Riccati observer to overcome this limitation. We validate that the observer is able to estimate the bias using numerical simulations and experimental data collected from an Intel Realsense camera. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of International Journal of Robust & Nonlinear Control is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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RecordInfo BibRecord:
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      – Type: doi
        Value: 10.1002/rnc.70311
    Languages:
      – Code: eng
        Text: English
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      Pagination:
        PageCount: 8
        StartPage: 2819
    Subjects:
      – SubjectFull: Angular velocity
        Type: general
      – SubjectFull: Linear acceleration
        Type: general
      – SubjectFull: Rigid bodies
        Type: general
      – SubjectFull: Riccati equation
        Type: general
      – SubjectFull: Accelerometers
        Type: general
      – SubjectFull: Measurement errors
        Type: general
      – SubjectFull: Inertial navigation systems
        Type: general
      – SubjectFull: Exponential stability
        Type: general
    Titles:
      – TitleFull: Angular Velocity and Linear Acceleration Measurement Bias Estimators for the Rigid Body System With Global Exponential Convergence.
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            NameFull: Shanbhag, Soham
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            NameFull: Chang, Dong Eui
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            – D: 25
              M: 03
              Text: 3/25/2026
              Type: published
              Y: 2026
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              Value: 36
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            – TitleFull: International Journal of Robust & Nonlinear Control
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