Related papers: Further results on "Velocity-position integration …
The in-flight alignment is a critical stage for airborne INS/GPS applications. The alignment task is usually carried out by the Kalman filtering technique that necessitates a good initial attitude to obtain satisfying performance. Due to…
Inertial navigation applications are usually referenced to a rotating frame. Consideration of the navigation reference frame rotation in the inertial navigation algorithm design is an important but so far less seriously treated issue,…
This paper addresses the problem of estimating the attitude of a rigid body, which is subject to high accelerations and equipped with inertial measurement unit (IMU) and sensors providing the body velocity (expressed in the reference frame…
This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400~g at take-off, the mechanism is actuated in the forward body direction, enabling precise position…
Motivated by drone autonomous navigation applications we address a novel problem of velocity-aided attitude estimation by combining two linear velocity components measured in a body-fixed frame and a linear velocity component measured in an…
Adaptive falling and recovery skills greatly extend the applicability of robot deployments. In the case of legged mobile manipulators, the robot arm could adaptively stop the fall and assist the recovery. Prior works on falling and recovery…
The aim of this study is to clarify the consequences of recent theoretical results for the numerical computation of expectation by the shift method, and in particular to yield sufficient criteria for the existence of speed of convergence of…
Present work deals with the dynamics of vehicles which intentionally operate in the ground proximity. The dynamics in ground effect is influenced by the vehicle orientation with respect to the ground, since the aerodynamic force and moment…
The problem of vibration suppression in helicopter rotors is the main topic of this paper. We revisit a strategy for the stabilization of such systems based on delayed feedback. By means of an improved analysis, made possible by recently…
The influence that the kinematics of pitching and heaving 2D airfoils have on the aerodynamic forces is investigated using Direct Numerical Simulations and a force decomposition algorithm. Large amplitude motions are considered (of the…
We propose a new method for human pose estimation which leverages information from multiple views to impose a strong prior on articulated pose. The novelty of the method concerns the types of coherence modelled. Consistency is maximised…
We propose a new position control strategy for VTOL-UAVs using IMU and GPS measurements. Since there is no sensor that measures the attitude, our approach does not rely on the knowledge (or reconstruction) of the system orientation as…
This paper addresses the problem of estimating the attitude and angular velocity of a rigid object by exploiting its second order kinematic model. The approach is particularly useful in cases where angular velocity measurements are not…
We extend to higher order a recently published method for calculating the deflection angle of light in a general static and spherically symmetric metric. Since the method is convergent we obtain very accurate analytical expressions that we…
This paper tackles the problem of estimating the relative position, orientation, and velocity between a UAV and a planar platform undergoing arbitrary 3D motion during approach and landing. The estimation relies on measurements from…
This paper focuses on the attitude motion of spacecraft systems featuring asymmetric spacecraft platforms and unbalanced rotors. Through perturbation expansion, the spacecraft dynamic equation is simplified as a linear periodically…
Integration of inertial navigation system (INS) and global navigation satellite system (GNSS) is usually implemented in engineering applications by way of Kalman-like filtering. This form of INS/GNSS integration is prone to attitude…
In this paper, we argue that modern pre-integration methods for inertial measurement units (IMUs) are accurate enough to ignore the drift for short time intervals. This allows us to consider a simplified camera model, which in turn admits…
Two nonlinear observers for velocity-aided attitude estimation, relying on gyrometers, accelerometers, magnetometers, and velocity measured in the body-fixed frame, are proposed. As opposed to state-of-the-art body-fixed velocity-aided…
The hand-eye measurements have recently been proven to be very efficient for spacecraft attitude determination relative to an ellipsoidal asteroid. However, recent method does not guarantee full attitude observability for all conditions.…