Related papers: A New Technique for INS/GNSS Attitude and Paramete…
This paper describes a novel method for the estimation of the trajectory curve and orientation of a rigid body moving along a railway track. Compared to other recent developments in the literature, the presented approach has the significant…
Unlike loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw Global Navigation Satellite System (GNSS) measurements, a first attempt of this…
An Inertial Navigation System (INS) is a system that integrates acceleration and angular velocity readings from an Inertial Measurement Unit (IMU), along with other sensors such as Global Navigation Satellite Systems (GNSS) position, GNSS…
Inertial sensors based on micro-electromechanical systems (MEMS) technology, such as accelerometers and angular rate sensors, are cost-effective solutions used in inertial navigation systems in a broad spectrum of applications that estimate…
Indoor tracking and pose estimation, i.e., determining the position and orientation of a moving target, are increasingly important due to their numerous applications. While Inertial Navigation Systems (INS) provide high update rates, their…
In recent years, MEMS inertial sensors (3D accelerometers and 3D gyroscopes) have become widely available due to their small size and low cost. Inertial sensor measurements are obtained at high sampling rates and can be integrated to obtain…
We present a generalized velocity model to improve localization when using an Inertial Navigation System (INS). This algorithm was applied to correct the velocity of a smart phone based indoor INS system to increase the accuracy by…
Modern smartphones have all the sensing capabilities required for accurate and robust navigation and tracking. In specific environments some data streams may be absent, less reliable, or flat out wrong. In particular, the GNSS signal can…
The Global Positioning Systems (GPS) and Inertial Navigation System (INS) technology have attracted a considerable importance recently because of its large number of solutions serving both military as well as civilian applications. This…
We present an ambiguity resolution method for Global Navigation Satellite System (GNSS)-based attitude determination. A GNSS attitude model with nonlinear constraints is used to rigorously incorporate a priori information. Given the…
Attitude determination is a popular application of Global Navigation Satellite Systems (GNSS). Many methods have been developed to solve the attitude determination problem with different performance offerings. We develop a constrained…
A long-term accurate and robust localization system is essential for mobile robots to operate efficiently outdoors. Recent studies have shown the significant advantages of the wheel-mounted inertial measurement unit (Wheel-IMU)-based dead…
The initial alignment provides an accurate attitude for SINS (strapdown inertial navigation system). By further estimating the IMU's bias and misalignment angle, the recursive Bayesian filter is accurate. However, the prior heading error…
Global Navigation Satellite System/Inertial Navigation System (GNSS/INS)/Vision integration based on factor graph optimization (FGO) has recently attracted extensive attention in navigation and robotics community. Integrity monitoring (IM)…
Accurate calibration of intrinsic (odometer scaling factors) and extrinsic parameters (IMU-odometer translation and rotation) is essential for autonomous ground vehicle localization. Existing GNSS-aided approaches often rely on positioning…
Many Inertial Navigation Systems (INS) use Global Navigation Satellite System (GNSS) position as the primary measurement to drive filter performance and bound error growth. However, commercial-grade GNSS receivers introduce unknown…
Many multi-sensor navigation systems urgently demand accurate positioning initialization from global navigation satellite systems (GNSSs) in challenging static scenarios. However, ground blockages against line-of-sight (LOS) signal…
This paper presents a novel online capable method for simultaneous estimation of human motion in terms of segment orientations and positions along with sensor-to-segment calibration parameters from inertial sensors attached to the body. In…
The design of navigation observers able to simultaneously estimate the position, linear velocity and orientation of a vehicle in a three-dimensional space is crucial in many robotics and aerospace applications. This problem was mainly dealt…
In this paper, the optimization-based alignment (OBA) methods are investigated with main focus on the vector observations construction procedures for the strapdown inertial navigation system (SINS). The contributions of this study are…