Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Attitude and Gyro Bias Estimation Using GPS and IMU Measurements   We propose an attitude and gyro-bias estimation scheme for accelerated rigid
body systems using an inertial measurement unit (IMU) and a global positioning
system (GPS). The proposed scheme allows to obtain attitude estimates directly
on the Special Orthogonal group $SO(3)$ while estimating the gyro bias and the
unknown apparent acceleration of the vehicle. We prove semi-global exponential
stability of the estimation errors. Furthermore, a new switching technique for
the attitude state is introduced which results in a velocity-aided hybrid
attitude observer with proven global exponential stability.

10
The categories of this paper are: q-bio
18
The categories of this paper are: econ
29
The categories of this paper are: funct-an
35
The categories of this paper are: mtrl-th
20
The categories of this paper are: acc-phys
3
The categories of this paper are: physics
7
The categories of this paper are: hep-th
26
The categories of this paper are: bayes-an
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The categories of this paper are: nlin
5
The categories of this paper are: gr-qc
23
The categories of this paper are: solv-int
22
The categories of this paper are: chao-dyn
37
The categories of this paper are: supr-con
21
The categories of this paper are: adap-org
32
The categories of this paper are: atom-ph
4
The categories of this paper are: cond-mat