Related papers: An Autonomous Reference Frame for Relativistic GNS…
This paper presents research findings on handling faulty measurements (i.e., outliers) of global navigation satellite systems (GNSS) for vehicle localization under adverse signal conditions in field applications, where raw GNSS data are…
With rapid development of techniques for astronomical observations, the precision of measurements has been significantly increasing. Theories of astronomical relativistic reference systems, which are the foundation for processing and…
Vehicular Networks are one of the enabling technologies for cooperative Intelligent Transportation Systems. For accurate and precise time synchronization in vehicular networks, Global Navigation Satellite System (GNSS) is getting increasing…
In this article we outline the structure of a general relativistic astrometric model which has been developed to deduce the position and proper motion of stars from 1-microarcsecond optical observations made by an astrometric satellite…
This article proposes a visual inertial navigation algorithm intended to diminish the horizontal position drift experienced by autonomous fixed wing UAVs (Unmanned Air Vehicles) in the absence of GNSS (Global Navigation Satellite System)…
Massive gravity is a good theoretical laboratory to study modifications of General Relativity. The theory offers a concrete set-up to study models of dark energy, since it admits cosmological self-accelerating solutions in the vacuum, in…
Accurate and reliable navigation is essential for autonomous ground vehicle operations. Standard INS/GNSS fusion relies on GNSS position updates, which provide limited observability of orientation and inertial sensor error states,…
In order to do relativistic gravimetry one needs to define a system of null coordinates for a given constellation of satellites. We present here three methods in order to find the null coordinates of an event in a Schwarzschild geometry. We…
Some authors have defended the claim that one needs to be able to define 'physical coordinate systems' and 'observables' in order to make sense of general relativity. Moreover, in Rovelli (Physical Review D, 65(4), 044017 2002), Rovelli…
Reliable autonomous driving relies on large-scale, well-labeled data and robust models. However, manual data collection is resource-intensive, and traditional simulation suffers from a persistent reality gap. While recent generative…
The design of a globally convergent position observer for feature points from visual information is a challenging problem, especially for the case with only inertial measurements and without assumptions of uniform observability, which…
We present a new approach to describe the dynamics of an isolated, gravitationally bound astronomical $N$-body system in the weak field and slow-motion approximation of the general theory of relativity. Celestial bodies are described using…
In this contribution we present two new proposals for measuring the general relativistic gravitomagnetic component of the gravitational field of the Earth. One proposal consists of the measurement of the difference of the rates of the…
In recent years, a large number of geosynchronous satellites are being planned to provide augmentation services for enhancing the precision to global positioning systems, e.g., GPS, in applications such as aircraft landing. In this paper,…
The paper discusses the increasing use of hybridized sensor information for GNSS-based localization and navigation, including the use of 3D map-aided GNSS positioning and terrestrial systems based on different geometric measurement…
Accurate localisation in planetary robotics enables the advanced autonomy required to support the increased scale and scope of future missions. The successes of the Ingenuity helicopter and multiple planetary orbiters lay the groundwork for…
Remote Sensing (RS) is a crucial technology for observing, monitoring, and interpreting our planet, with broad applications across geoscience, economics, humanitarian fields, etc. While artificial intelligence (AI), particularly deep…
Challenges inherent to autonomous wintertime navigation in forests include lack of reliable a Global Navigation Satellite System (GNSS) signal, low feature contrast, high illumination variations and changing environment. This type of…
We present a new geometric approach to the study of static isolated general relativistic systems for which we suggest the name geometrostatics. After describing the setup, we introduce localized formulas for the ADM-mass and ADM/CMC-center…
A coordinate system is proposed that replaces the usual three-dimensional Cartesian x,y,z position coordinates, for use in robotic localization applications. Range, azimuth, and elevation measurement models become greatly simplified, and,…