Related papers: A New Technique for INS/GNSS Attitude and Paramete…
Inertial navigation and attitude initialization in polar areas become a hot topic in recent years in the navigation community, as the widely-used navigation mechanization of the local level frame encounters the inherent singularity when the…
A vehicular pose estimation technique is presented that tightly couples multi-antenna carrier-phase differential GNSS (CDGNSS) with a low-cost MEMS inertial sensor and vehicle dynamics constraints. This work is the first to explore the use…
The Global Navigation Satellite System (GNSS) provides critical positioning information globally, but its accuracy in dense urban environments is often compromised by multipath and non-line-of-sight errors. Road network data can be used to…
This paper is the second part of a series of studies discussing a novel attitude determination method for nano-satellites. Our approach is based on the utilization of thermal imaging sensors to determine the direction of the Sun and the…
Small-sized unmanned aerial vehicles (UAVs) have been widely investigated for use in a variety of applications such as remote sensing and aerial surveying. Direct three-dimensional (3D) mapping using a small-sized UAV equipped with a laser…
A reliable pose estimator robust to environmental disturbances is desirable for mobile robots. To this end, inertial measurement units (IMUs) play an important role because they can perceive the full motion state of the vehicle…
This paper presents an online initialization method for bootstrapping the optimization-based monocular visual-inertial odometry (VIO). The method can online calibrate the relative transformation (spatial) and time offsets (temporal) among…
Bioinspired polarized skylight navigation system (PSNS) is a new navigation method, which imitates insects using polarized skylight for navigation. However, the latest research shows that the current PSNS is difficult to obtain the…
Autonomous surface vessels (ASVs) are increasingly vital for marine science, offering robust platforms for underwater mapping and inspection. Accurate state estimation, particularly of vehicle pose, is paramount for precise seafloor…
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…
Accurate and globally referenced global navigation satellite system (GNSS) based vehicular positioning can be achieved in outlier-free open areas. However, the performance of GNSS can be significantly degraded by outlier measurements, such…
For reliable operation, next generation autonomous agents will need enhanced situational perception as well as precise navigation capabilities. The global navigation satellite system (GNSS) signals that are utilized by practically all…
Accurately estimating vehicle velocity via smartphone is critical for mobile navigation and transportation. This paper introduces a cutting-edge framework for velocity estimation that incorporates temporal learning models, utilizing…
This paper considers the problem of simultaneous estimation of the attitude, position and linear velocity for vehicles navigating in a three-dimensional space. We propose two types of hybrid nonlinear observers using continuous angular…
Inertial navigation computation is to acquire the attitude, velocity and position information of a moving body by integrating inertial measurements from gyroscopes and accelerometers. Over half a century has witnessed great efforts in…
Context Progresses in GNSS-based solution introduction in rail applications GNSS (Global Navigation Satellite System) is now used in most of our travels and each of our smartphone apps. Most of the usages are not safety-critical. But Europe…
Estimating the limbs pose in a wearable way may benefit multiple areas such as rehabilitation, teleoperation, human-robot interaction, gaming, and many more. Several solutions are commercially available, but they are usually expensive or…
The possible applications and benefits of autonomous Unmanned Aerial Vehicle (UAV) use in urban areas are gaining considerable attention. Before these possibilities can be realized, it is essential that UAVs be able to navigate reliably and…
Secure navigation is pivotal for several applications including autonomous vehicles, robotics, and aviation. The inertial navigation system estimates position, velocity, and attitude through dead reckoning especially when external…
This paper concerns the estimation problem of attitude, position, and linear velocity of a rigid-body autonomously navigating with six degrees of freedom (6 DoF). The navigation dynamics are highly nonlinear and are modeled on the matrix…