Attitude Estimation Using Inertial and Barometric Measurements
This paper proposes a barometer-aided attitude estimation architecture that uses barometric altitude measurements to provide complementary vertical motion information, enhancing attitude estimation within nonlinear observers on SO(3). Two observers are designed: a deterministic Riccati observer cascaded with a complementary filter achieving almost-global asymptotic stability, and a nonlinear observer on SO(3)×R2 guaranteeing local exponential stability. Simulations and real flight data validate the method's effectiveness under minimal-sensing configurations.
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[Submitted on 14 Jul 2026]
Title:Attitude Estimation Using Inertial and Barometric Measurements
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Abstract:Accurate and robust attitude estimation is a key challenge for autonomous vehicles, particularly in GNSS-denied conditions and during highly accelerated flight. In such conditions, Inertial Measurement Units (IMUs) alone are insufficient for reliable tilt estimation due to the ambiguity between gravitational and inertial accelerations. Although auxiliary velocity sensors such as GNSS, Pitot tubes, Doppler radar, or Visual Inertial Odometry are commonly used, they may be unavailable, intermittent, or costly. This paper introduces a barometer-aided attitude estimation architecture that exploits barometric altitude measurements to provide complementary information on the vehicle's vertical motion, thereby enhancing attitude estimation within nonlinear observers on SO(3). The contributions are twofold. First, we design a deterministic Riccati observer cascaded with a complementary filter, ensuring almost-global asymptotic stability (AGAS) under a uniform observability (UO) condition while preserving the geometric structure of the attitude dynamics. Second, we propose a nonlinear observer evolving on SO(3)xR2, which integrates IMU measurements as inputs and barometer and magnetometer measurements as outputs within a unified framework, guaranteeing local exponential stability (LES) under relaxed uniform observability conditions. The proposed approaches are validated using both simulated and real flight data. The results demonstrate that barometer-aided estimation provides a lightweight, reliable, and effective complementary sensing modality for attitude estimation in minimal-sensing configurations, offering a practical alternative when conventional velocity measurements are unavailable or degraded.
Comments: 15 pages, 9 figures
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2607.13254 [cs.RO]
(or arXiv:2607.13254v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2607.13254
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Melone Nyoba Tchonkeu [view email] [v1] Tue, 14 Jul 2026 20:36:13 UTC (7,061 KB)
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