Related papers: An IMU-Aided Carrier-Phase Differential GPS Positi…
In this paper we propose a novel accurate method for dead-reckoning of wheeled vehicles based only on an Inertial Measurement Unit (IMU). In the context of intelligent vehicles, robust and accurate dead-reckoning based on the IMU may prove…
Strapdown inertial navigation systems are sensitive to the quality of the data provided by the accelerometer and gyroscope. Low-grade IMUs in handheld smart-devices pose a problem for inertial odometry on these devices. We propose a scheme…
A self-contained autonomous dead reckoning (DR) system is desired to complement the Global Navigation Satellite System (GNSS) for land vehicles, for which odometer-aided inertial navigation system (ODO/INS) is a classical solution. In this…
A Bayesian zero-velocity detector for foot-mounted inertial navigation systems is presented. The detector extends existing zero-velocity detectors based on the likelihood-ratio test, and allows, possibly time-dependent, prior information…
In this work we present more comprehensive evaluations on our airborne Gimbal mounted inertial measurement unit (IMU) signal simulator which also considers flight dynamic model (FDM). A flexible IMU signal simulator is an enabling tool in…
This paper presents the most thorough study to date of vehicular carrier-phase differential GNSS (CDGNSS) positioning performance in a deep urban setting unaided by complementary sensors. Using data captured during approximately 2 hours of…
Precise geolocalization is crucial for unmanned aerial vehicles (UAVs). However, most current deployed UAVs rely on the global navigation satellite systems (GNSS) or high precision inertial navigation systems (INS) for geolocalization. In…
Lower limb exoskeletons and prostheses require precise, real time gait phase and step detections to ensure synchronized motion and user safety. Conventional methods often rely on complex force sensing hardware that introduces control…
A new obstacle detection algorithm for unmanned surface vehicles (USVs) is presented. A state-of-the-art graphical model for semantic segmentation is extended to incorporate boat pitch and roll measurements from the on-board inertial…
Positional estimation is of great importance in the public safety sector. Emergency responders such as fire fighters, medical rescue teams, and the police will all benefit from a resilient positioning system to deliver safe and effective…
Accurate localization is crucial for various applications, including autonomous vehicles and next-generation wireless networks. However, the reliability and precision of Global Navigation Satellite Systems (GNSS), such as the Global…
This paper presents an adaptive learning method for data fusion in autonomous driving vehicles. The localization is based on the integration of Inertial Measurement Unit (IMU) with two Real-Time Kinematic (RTK) Global Positioning System…
Autonomous driving has spurred the development of sensor fusion techniques, which combine data from multiple sensors to improve system performance. In particular, localization system based on sensor fusion , such as Visual Simultaneous…
In this paper, a novel method for vision-aided navigation based on trifocal tensor is presented. The main goal of the proposed method is to provide position estimation in GPS-denied environments for vehicles equipped with a standard…
In this paper, we validate the performance of the a sensor fusion-based Global Navigation Satellite System (GNSS) spoofing attack detection framework for Autonomous Vehicles (AVs). To collect data, a vehicle equipped with a GNSS receiver,…
Localization can be achieved by different sensors and techniques such as a global positioning system (GPS), wifi, ultrasonic sensors, and cameras. In this paper, we focus on the laser-based localization method for unmanned aerial vehicle…
We propose a fixed-lag smoother-based sensor fusion architecture to leverage the complementary benefits of range-based sensors and visual-inertial odometry (VIO) for localization. We use two fixed-lag smoothers (FLS) to decouple accurate…
This work introduces a single-range-aided navigation observer that reconstructs the full state of a rigid body using only an Inertial Measurement Unit (IMU), a body-frame vector measurement (e.g., magnetometer), and a distance measurement…
Global Navigation Satellite Systems enable precise localization and timing even for highly mobile devices, but legacy implementations provide only limited support for the new generation of security-enhanced signals. Inertial Measurement…
Autonomous vehicle control is growing in availability for new vehicles and there is a potential need to retrofit older vehicles with this capability. Additionally, automotive cybersecurity has become a significant concern in recent years…