Relevant bibliographies by topics / Attitude determination

Contents

  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers
  6. Reports

Academic literature on the topic 'Attitude determination'

Author: Grafiati
Published: 4 June 2021
Last updated: 6 September 2023

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Journal articles on the topic "Attitude determination"

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Huang, Yu, Lihua Wu, and Dequan Li. "Theoretical Research on Full Attitude Determination Using Geomagnetic Gradient Tensor." Journal of Navigation 68, no. 5 (April 17, 2015): 951–61. http://dx.doi.org/10.1017/s0373463315000259.

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To solve the problem of attitude determination using magnetometers independently and uniquely, which is important for underwater vehicles, a type of full attitude determination method based on geomagnetic gradient tensor is proposed in this paper. In this method, a group of non-linear equations concerning geomagnetic gradient tensors is established, where a quaternion is selected to calculate three attitude angles of an underwater vehicle. The optimal quaternion is estimated using Newton Down-hill to optimise the object function. The detailed steps of the full attitude determination based on geomagnetic gradient tensor are given, and the effects of the initial angle error and the sensor noise on the attitude determination are investigated. Simulations show that the algorithm can identify precisely and quickly the attitudes even in the presence of larger initial angle error and sensor noise, which proves the attitude determination algorithm.
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Baierl, Tessa-Marie, and Franz X. Bogner. "How Should We Teach Nature Protection? Self-Determination and Environmental Attitudes." Education Sciences 13, no. 4 (March 28, 2023): 353. http://dx.doi.org/10.3390/educsci13040353.

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Environmental attitudes are supportive for learning about the environment and for pro-environmental engagement. The question, then, is how to strengthen and establish environmental attitudes. Based on a sample of 429 middle and high school students, we investigated the effect of self-determination-based motivation on environmental attitude. While high levels of self-determination (i.e., intrinsic motivation) positively affected pro-environmental attitude (β = 0.40), low levels of self-determination (i.e., external regulation) negatively affected attitude (β = –0.31). Our data further pointed to a distinct trajectory of self-determination and inclusion of nature throughout adolescence (high scores for 12-year-olds that decline to a minimum around 15–16-years old); a trend that has already been shown for environmental attitude. Such a dip might help derive teaching recommendations in environmental education, e.g., by supporting high scores in time to attenuate a decline. Further teaching recommendations include strengthening students’ self-determination through their basic needs (autonomy, competence, and relatedness).
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Lee, Sung-Hee, and Jong-Woo Park. "The effect of parental parenting attitudes on infant self-determination: Mediating effect of infant resilience." Korea Association for Early Childhood Education and Educare Welfare 27, no. 2 (June 30, 2023): 97–118. http://dx.doi.org/10.22590/ecee.2023.27.2.97.

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This study attempted to examine the relationship between affection, rejection, and protection of parental parenting attitudes on infant self-determination through infant resilience. To this end, a survey was conducted on 315 parents of 4-5-year-old infants enrolled in kindergartens and daycare centers at institutions in Gyeonggi-do, and 304 copies of the 315 copies were analyzed, excluding unfaithful data. Source: SPSS 22 was used for data processing. The results of this study are as follows. First, it was discovered that parental parenting attitudes' affection had a static impact on infant resilience, and parental parenting attitudes' rejection and overprotection had a negative impact. Second, infant resilience had a positive effect on infant self-determination. Third, the affection of parental parenting attitudes had a positive effect on infant self-determination, and the rejection and overprotection of parental parenting attitudes had a negative effect on infant self-determination. Fourth, as a result of examining the mediating effect of infant resilience in the relationship between parental attitude and infant self-determination, infant resilience partially mediated in the relationship between infant self-determination and overprotection of parental attitude. This means that infant resilience acts as a factor that can increase infant self-determination in the effect of parental parenting attitude on infant self-determination.
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Brown, R. A. "Instantaneous GPS attitude determination." IEEE Aerospace and Electronic Systems Magazine 7, no. 6 (June 1992): 3–8. http://dx.doi.org/10.1109/62.145113.

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Zaminpardaz, Safoora, Peter Teunissen, and Nandakumaran Nadarajah. "IRNSS/NavIC L5 Attitude Determination." Sensors 17, no. 2 (January 30, 2017): 274. http://dx.doi.org/10.3390/s17020274.

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Wetterer, Charles J., and Moriba Jah. "Attitude Determination from Light Curves." Journal of Guidance, Control, and Dynamics 32, no. 5 (September 2009): 1648–51. http://dx.doi.org/10.2514/1.44254.

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Emara-Shabaik, H. E. "Spacecraft spin axis attitude determination." IEEE Transactions on Aerospace and Electronic Systems 28, no. 2 (April 1992): 529–34. http://dx.doi.org/10.1109/7.144578.

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Shuster, Malcolm D. "Attitude determination in higher dimensions." Journal of Guidance, Control, and Dynamics 16, no. 2 (March 1993): 393–95. http://dx.doi.org/10.2514/3.21018.

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Wilson, Gregory J., and Jeffrey D. Tonnemacher. "A GPS Attitude Determination System." Journal of Navigation 45, no. 2 (May 1992): 192–204. http://dx.doi.org/10.1017/s0373463300010699.

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In 1991 Trimble Navigation introduced a Global Positioning System (Gps)-based attitude determination receiver capable of 3-axis solutions with accuracy to several milliradians for airborne, sea and land platforms. This paper discusses the physical, architectural, and operational features of this receiver system. Analysis of system performance will also be reviewed for various configurations and user applications. The Trimble Navigation attitude determination receiver uses differential carrier phase techniques to determine azimuth, pitch and roll angles of a 3-antenna array. This product is designed to operate in a variety of user applications and to withstand rugged operating environments. Trimble Navigation has expanded its proven GPS sensor architecture to incorporate three independent RF sections and additional processing channels to measure and process the differential phase between antennas on two orthogonal baselines. Direct measurement of differential phase utilizing a common local oscillator provides highly accurate relative phase data. The navigation and attitude processor computes azimuth, pitch, and roll angles as well as position, velocity and time. The solution accuracy and stability statistics are sensitive to various parameters. Antenna baseline length, signal multipath, platform dynamics and filtering are investigated. Test data from static and various dynamic platforms are also presented.
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Bolandi, H., M. Haghparast, F. F. Saberi, B. G. Vaghei, and S. M. Smailzadeh. "Satellite Attitude Determination and Contol." Measurement and Control 45, no. 5 (June 2012): 151–57. http://dx.doi.org/10.1177/002029401204500505.

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Dissertations / Theses on the topic "Attitude determination"

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Bejeryd, Johan. "GPS-based attitude determination." Thesis, Linköping University, Department of Electrical Engineering, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-11029.

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Inertial sensors and magnetometers are often used for attitude determination of moving platforms. This thesis treats an alternative method; GPS-based attitude determination. By using several GPS-antennas, and with carrier phase measurements determining the relative distance between them, the attitude can be calculated.

Algorithms have been implemented in Matlab and tested on real data. Two commercial GPS-based attitude determination systems have also been tested on a mobile platform and compared to a navigation grade Inertial Navigation System (INS). The results from the tests show that GPS-based attitude determination works well in open areas, but would require support from additional sensors in urban and forest environments.

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Thorstensson, Erika. "GPS based attitude determination." Thesis, Linköpings universitet, Institutionen för teknik och naturvetenskap, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-94447.

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This paper is the result of a masters thesis performed at Linköping University for Saab Bofors Dynamics in Linköping, Sweden. Attitude is defined as the orientation of a coordinate frame in reference to another coordinate frame. This is often referred to as three consecutive rotations, called roll, pitch and yaw (or heading). Attitude determination is generally performed using inertial navigation systems composed of gyros and accelerometers. These systems are highly accurate but are very expensive and experience a drift when used for a long period of time. The global positioning system, or GPS, was developed by the US military to determine a user’s position, velocity and time. These parameters can all be determined by performing measurements on the GPS satellite signal code that is modulated onto the GPS satellite signal carrier. But the GPS signal can also be use to determine attitude by performing carrier measurements for two or more GPS antennas. When determining the relative position between two antennas, by measuring the phase difference between them, information of the baseline is attained. The calculated baseline will be in a local navigation frame. By rotating it to the known body frame, a rotation matrix known as a direction coordinate matrix, or DCM, will be attained. From this rotation matrix, only two of the three attitude angles can be calculated, since the third rotation is about the baseline’s own axis. Using three or more antennas (two or more baselines), all three attitude angles can be determined from the DCM. This thesis work included development of a hardware platform carrying four NovAtel Superstar II GPS receivers. The platform enables serial communications between the receivers and a PC, as well as providing the supply for the receivers and antennas. The attitude determination algorithm was written and tested using a test platform mounted onto a car. The result shows a one degree deviation from an INS reference system in heading and pitch during both static and dynamic tests. The roll angle was not measured during the test drives because only one baseline was locked. The GPS based attitude determination system performed well when the baselines were locked, but it requires some improvements for full functionality.
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Hollensteiner, Erwin. "Drilling attitude determination and control." Thesis, University of Nottingham, 2007. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.555799.

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This thesis is concerned with the development of a new robust and efficient real time signal processing algorithm for a rotating strapdown inertial navigation system (INS). Although the signal processing in INS is dominated by the Kalman filter algorithm, often this algorithm is not feasible for small microcontroller or digital signal processor (DSP) applications. This thesis develops a new fixed point DSP algorithm for cal- culating the optimal estimate of orientation of the INS. In this thesis Kalman filter algorithms in INS are discussed. A filter algorithm for a rotating inertial navigation system is developed. The discussed navigation system is part of an oil drilling tool. The theoretical work is verified by a set of experiments and field tests. The experi- mental results have shown that the required attitude measurement accuracy can be achieved. It has been shown that it is possible to control the attitude for a directional drilling tool.
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Jacquemont, Christian M. (Christian Marie) 1972. "Aircraft attitude determination using robust estimation." Thesis, Massachusetts Institute of Technology, 1997. http://hdl.handle.net/1721.1/10202.

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Arrigo, Jeanette Fay Freauf. "Improved VLSI architecture for attitude determination computations." Connect to a 24 p. preview or request complete full text in PDF format. Access restricted to UC campuses, 2006. http://wwwlib.umi.com/cr/ucsd/fullcit?p3195257.

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Thesis (Ph. D.)--University of California, San Diego, 2006.
Title from first page of PDF file (viewed February 28, 2006). Available via ProQuest Digital Dissertations. Vita. Includes bibliographical references.
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Kaplan, Ceren. "Leo Satellites: Attitude Determination And Control Components." Master's thesis, METU, 2006. http://etd.lib.metu.edu.tr/upload/12607189/index.pdf.

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In this thesis, application of linear control methods to control the attitude of a Low-Earth Orbit satellite is studied. Attitude control subsystem is first introduced by explaining attitude determination and control components in detail. Satellite dynamic equations are derived and linearized for controller design. Linear controller and linear quadratic regulator are chosen as controllers for attitude control. The actuators used for control are reaction wheels and magnetic torquers. MATLAB-SIMULINK program is used in order to simulate satellite dynamical model (actual nonlinear model) and controller model. In simulations, the satellite parameters are selected to be similar to the actual BILSAT-1 satellite parameters. In conclusion, simulations obtained from different linear control methods are compared within themselves and with nonlinear control methods, at the same time with that obtained from BILSAT-1 satellite log data.
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Thorstenson, Stefan. "IMU-based enhancement of GPS attitude determination." Thesis, Linköpings universitet, Reglerteknik, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-79930.

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GPS carrier-phase measurements from two GPS antennas can be used to calculate the heading of the baseline that can be drawn between the two antennas. An integer ambiguity problem has to be solved, and the system is called GPS attitude determination (GPSAD). This way of calculating the heading is cheaper than the traditional ways to do it, but it requires GPS reception. This thesis investigates how and if an inertial measurement unit (IMU) can support the GPS-based system, and divides the question into four problems: heading estimate during GPS outages, reducing the ambiguity search space, cycle slip detection and multipath mitigation. A relatively cheap IMU was used, and an extended Kalman filter (EKF) was implemented to continue to supply heading estimates during GPS outages with a drift less than 1/min in the studied case. When the GPS reception is good enough after an outage, the EKF supplies the GPSAD with an interval of the heading estimate to reduce the ambiguity search space. It has been investigated how to detect and deal with cycle slips, and the conclusion is that an IMU can help with detecting the slips, although nothing has been implemented. Multipath is still an issue, but some approaches to reduce the effect are suggested. The overall performance of the system is greatly increased with the help of an IMU. Performance increasing work can still be done, especially for the cooperation between the GPSAD and the EKF.
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De, Ruiter Anton. "Nonlinear state-estimation for spacecraft attitude determination." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2001. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp04/MQ62888.pdf.

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Dai, Zhen [Verfasser]. "On GPS based attitude determination / Zhen Dai." Siegen : Universitätsbibliothek der Universität Siegen, 2013. http://d-nb.info/1034425951/34.

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Scaccia, Milena. "Numerical algorithms for attitude determination using GPS." Thesis, McGill University, 2011. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=103616.

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Attitude determination involves the estimation of the orientation of a body (usually aircraft or satellite) with respect to a known frame of reference. It has important applicationsin areas spanning navigation and communication. There exist two main approaches for determining attitude using the Global Positioning System (GPS): (1) algorithms which determine attitude via baseline estimates in two frames, and (2) algorithms which solve for attitude by incorporating the attitude parameters directly into the state. For each approach, we propose an algorithm which aims to determine attitude in an efficient and numerically reliable fashion. We present numerical simulations demonstrating the performance of our algorithms and provide a comparison evaluating which approach is better - a result which is not presently clearly documented in the literature.
La détermination de l'attitude est l'estimation de l'orientation dans l'espace d'un véhicule ou d'un satellite par rapport à un repère de référence. Ils existent des applications importantes qui exigent la connaissance de l'attitude, particulièrement dans les domaines de navigation et de communication. La détermination de l'attitude à l'aide de GPS peut être obtenue a partir de deux approches: (1) en déterminant la rotation en utilisant des estimées de lignes de base de deux repères, ou (2) en utilisant des mesures de GPS pour déterminer les paramètres d'attitude directement. Pour chaque approche, on propose un algorithme à but de déterminer l'attitude de manière efficace et numériquement fiable. On présente des simulations démontrant la performance de nos algorithmes. On présente aussi une comparaison évaluant quelle serait la meilleure approche - un résultat qui n'est pas actuellement clairement documenté dans la littérature.
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Books on the topic "Attitude determination"

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Richard, Wertz James, ed. Spacecraft attitude determination and control. Dordrecht: Reidel, 1985.

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Markley, F. Landis, and John L. Crassidis. Fundamentals of Spacecraft Attitude Determination and Control. New York, NY: Springer New York, 2014. http://dx.doi.org/10.1007/978-1-4939-0802-8.

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J, Hashmall, Baker D, and Goddard Space Flight Center, eds. Spacecraft attitude determination accuracy from mission experience. Greenbelt, Md: National Aeronautics and Space Administration, Goddard Space Flight Center, 1994.

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J, Hashmall, Baker D, and Goddard Space Flight Center, eds. Spacecraft attitude determination accuracy from mission experience. Greenbelt, Md: National Aeronautics and Space Administration, Goddard Space Flight Center, 1994.

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Osborne, Michael L. GPS attitude determination using deployable-mounted antennas. Hampton, Va: Langley Research Center, 1996.

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Ruiter, Anton De. Nonlinear state-estimation for spacecraft attitude determination. Toronto: Department of Aerospace Science and Engineering, University of Toronto, 2001.

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Chodas, P. W. Combined orbit/attitude determination for low-altitude satellites. [Downsview, Ont.]: Institute for Aerospace Studies, 1986.

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Nicholson, M. Attitude Determination Error Analysis System (ADEAS) mathematical specification document. [Greenbelt, Md.]: Goddard Space Flight Center, 1988.

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United States. National Aeronautics and Space Administration., ed. Performance analysis of an integrated GPS/inertial attitude determination system. Cambridge, MA: Charles Stark Draper Laboratory, 1994.

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United States. National Aeronautics and Space Administration., ed. Performance analysis of an integrated GPS/inertial attitude determination system. Cambridge, MA: Charles Stark Draper Laboratory, 1994.

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Book chapters on the topic "Attitude determination"

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Giorgi, Gabriele. "Attitude Determination." In Springer Handbook of Global Navigation Satellite Systems, 781–809. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-42928-1_27.

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Giorgi, Gabriele. "Attitude Determination." In Encyclopedia of Geodesy, 1–3. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-02370-0_2-1.

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Hallock, Harold L., Gary Welter, David G. Simpson, and Christopher Rouff. "Onboard Attitude Determination." In NASA Monographs in Systems and Software Engineering, 125–58. London: Springer London, 2017. http://dx.doi.org/10.1007/978-1-4471-7325-0_7.

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Yang, Yaguang. "Spacecraft Attitude Determination." In Spacecraft Modeling, Attitude Determination, and Control Quaternion-based Approach, 65–82. Boca Raton, FL : CRC Press, 2019. | “A science publishers book.”: CRC Press, 2019. http://dx.doi.org/10.1201/9780429446580-6.

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Crassidis, John L. "Spacecraft Attitude Determination." In Encyclopedia of Systems and Control, 1–7. London: Springer London, 2019. http://dx.doi.org/10.1007/978-1-4471-5102-9_100038-1.

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Xie, Yongchun, Yongjun Lei, Jianxin Guo, and Bin Meng. "Spacecraft Attitude Determination." In Spacecraft Dynamics and Control, 201–61. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-33-6448-6_5.

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Crassidis, John L. "Spacecraft Attitude Determination." In Encyclopedia of Systems and Control, 2097–104. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-44184-5_100038.

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Markley, F. Landis, and John L. Crassidis. "Attitude Control." In Fundamentals of Spacecraft Attitude Determination and Control, 287–343. New York, NY: Springer New York, 2014. http://dx.doi.org/10.1007/978-1-4939-0802-8_7.

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Markley, F. Landis, and John L. Crassidis. "Static Attitude Determination Methods." In Fundamentals of Spacecraft Attitude Determination and Control, 183–233. New York, NY: Springer New York, 2014. http://dx.doi.org/10.1007/978-1-4939-0802-8_5.

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Knight, Jerry, and Ron Hatch. "Attitude Determination via GPS." In Kinematic Systems in Geodesy, Surveying, and Remote Sensing, 168–77. New York, NY: Springer New York, 1991. http://dx.doi.org/10.1007/978-1-4612-3102-8_16.

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Conference papers on the topic "Attitude determination"

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Goh, Shu Ting, Chris E. Passerello, and Ossama Abdelkhalik. "Spacecraft Relative Attitude Determination." In 2010 IEEE Aerospace Conference. IEEE, 2010. http://dx.doi.org/10.1109/aero.2010.5446994.

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"GNSS Based Attitude Determination." In 2020 28th Signal Processing and Communications Applications Conference (SIU). IEEE, 2020. http://dx.doi.org/10.1109/siu49456.2020.9302405.

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SCHNEIDERS, G. "AMPTE/IRM attitude determination." In 7th Computational Fluid Dynamics Conference. Reston, Virigina: American Institute of Aeronautics and Astronautics, 1985. http://dx.doi.org/10.2514/6.1985-1939.

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Martinez, D., J. M. Quero, J. Garcia, L. Leon, P. Castro, and C. Nieto. "Attitude determination module for CubeSat." In 2015 IEEE International Conference on Industrial Technology (ICIT). IEEE, 2015. http://dx.doi.org/10.1109/icit.2015.7125386.

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Ozer, Y. Bugra, and Yakup Ozkazanc. "Image based integrated attitude determination." In 2018 26th Signal Processing and Communications Applications Conference (SIU). IEEE, 2018. http://dx.doi.org/10.1109/siu.2018.8404182.

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Tanygin, Sergei. "Spacecraft Attitude Determination from Imagery." In AIAA/AAS Astrodynamics Specialist Conference and Exhibit. Reston, Virigina: American Institute of Aeronautics and Astronautics, 2008. http://dx.doi.org/10.2514/6.2008-7207.

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Stoltz, Paul, Mark Krebs, and Rick Baltman. "ORBCOMM attitude determination and control." In Astrodynamics Conference. Reston, Virigina: American Institute of Aeronautics and Astronautics, 1996. http://dx.doi.org/10.2514/6.1996-3620.

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Russell, Robert L., and Andrew J. D' Arcy. "Video-Based Satellite Attitude Determination." In Cambridge Symposium_Intelligent Robotics Systems, edited by Wun C. Chiou, Sr. SPIE, 1987. http://dx.doi.org/10.1117/12.964878.

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Goncharov, Alexander E., Igor N. Kartsan, Dmitry D. Dmitriev, Valery N. Tyapkin, and Yuri L. Fateev. "Attitude determination of spinning objects." In 2016 International Siberian Conference on Control and Communications (SIBCON). IEEE, 2016. http://dx.doi.org/10.1109/sibcon.2016.7491739.

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Ryzhkov, L. "Attitude determination VIA geometric approach." In 2017 IEEE 4th International Conference Actual Problems of Unmanned Aerial Vehicles Developments (APUAVD). IEEE, 2017. http://dx.doi.org/10.1109/apuavd.2017.8308782.

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Reports on the topic "Attitude determination"

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Axelrad, Penina. GPS Based Attitude Determination. Fort Belvoir, VA: Defense Technical Information Center, December 1995. http://dx.doi.org/10.21236/ada327730.

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Axeirad, Penina, and Charles P. Behre. GPS Based Attitude Determination for Spinning Satellites. Fort Belvoir, VA: Defense Technical Information Center, December 1997. http://dx.doi.org/10.21236/ada334738.

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Brown, Alison, and Randy Silva. Video-Aided GPS/INS Positioning and Attitude Determination. Fort Belvoir, VA: Defense Technical Information Center, January 2006. http://dx.doi.org/10.21236/ada444337.

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Wilson, Michael J. Attitude Determination With Magnetometers for Gun-Launched Munitions. Fort Belvoir, VA: Defense Technical Information Center, August 2004. http://dx.doi.org/10.21236/ada425992.

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Fell, Patrick J. Preliminary Study of Satellite Attitude Determination for the LANDSAT 7 Spacecraft. Fort Belvoir, VA: Defense Technical Information Center, April 1994. http://dx.doi.org/10.21236/ada278876.

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Isenberg, Douglas R., and Ankit Jain. A Low-Cost Attitude Determination System using Multiple Sensors for High-Altitude Balloon Flights. Ames (Iowa): Iowa State University. Library. Digital Press, January 2014. http://dx.doi.org/10.31274/ahac.8157.

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Guinn-Collins, Shannon. Motivation in Late Learners of Japanese: Self-Determination Theory, Attitudes and Pronunciation. Portland State University Library, January 2000. http://dx.doi.org/10.15760/etd.191.

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Isaacs, Robert. A Lifelong Journey in Aboriginal Affairs and Community: Nulungu Reconciliation Lecture 2021. Edited by Melissa Marshall, Gillian Kennedy, Anna Dwyer, Kathryn Thorburn, and Sandra Wooltorton. Nulungu Research Institute, The University of Notre Dame Australia, 2021. http://dx.doi.org/10.32613/ni/2021.6.

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In this 2021 Nulungu Reconciliation lecture, Dr Robert Isaacs AM OAM will explore the meaning of reconciliation and the lessons of his personal journey in two worlds. As part of the Stolen Generation, and born at the dawn of the formal Aboriginal Rights Movement, this lecture outlines the changing social attitudes through the eyes of the lived experience and the evolving national policy framework that has sought to manage, then heal, the wounds that divided a nation. Aspirations of self-determination, assimilation and reconciliation are investigated to unpack the intent versus the outcome, and why the deep challenges not only still exist, but in some locations the divide is growing. The Kimberley is an Aboriginal rights location of global relevance with Noonkanbah at the beating heart. The Kimberley now has 93 percent of the land determined through Native Title yet the Kimberley is home to extreme disadvantage, abuse and hopelessness. Our government agencies are working “nine-to-five” but our youth, by their own declaration, are committing suicide out of official government hours. The theme of the Kimberley underpins this lecture. This is the journey of a man that was of two worlds but now walks with the story of five - the child of the Bibilmum Noongar language group and the boy that was stolen. The man that became a policy leader and the father of a Yawuru-Bibilmum-Noongar family and the proud great-grandson that finally saw the recognition of the courageous act of saving fifty shipwrecked survivors in 1876.
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