Related papers: Semi-Analytic Method for SINS Attitude and Paramet…

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…

The work analyzes existing methods for increasing the accuracy of determining weekend navigation parameters of unmanned underwater vehicles. It is proposed to retrofit the navigation system with an additional hydrodynamic tilt unit, which…

We present a method to improve the accuracy of a foot-mounted, zero-velocity-aided inertial navigation system (INS) by varying estimator parameters based on a real-time classification of motion type. We train a support vector machine (SVM)…

Rigid motion computation or estimation is a cornerstone in numerous fields. Attitude computation can be achieved by integrating the angular velocity measured by gyroscopes, the accuracy of which is crucially important for the dead-reckoning…

This article presents a method for estimating the dynamic driving states (position, velocity, acceleration and heading) from noisy measurement data. The proposed approach is effective with both complete and partial observations, producing…

This paper investigates the problem of attitude and air velocity estimation for fixed-wing unmanned aerial vehicles (UAVs) using IMU measurements and at least one Pitot tube measurement, with almost global asymptotic stability (AGAS)…

This paper provides new results for a tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid complexities and…

Predicting driver intentions is a difficult and crucial task for advanced driver assistance systems. Traditional confidence measures on predictions often ignore the way predicted trajectories affect downstream decisions for safe driving. In…

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…

We use online convex optimization (OCO) for setpoint tracking with uncertain, flexible loads. We consider full feedback from the loads, bandit feedback, and two intermediate types of feedback: partial bandit where a subset of the loads are…

Synthetic aperture imaging systems achieve constant azimuth resolution by coherently summating the observations acquired along the aperture path. At this aim, their locations have to be known with subwavelength accuracy. In underwater…

Accurate estimation of the vehicle's sideslip angle and tire forces is essential for enhancing safety and handling performances in unknown driving scenarios. To this end, the present paper proposes an innovative observer that combines a…

This paper is devoted to the offline multiple changes detection for long-range dependence processes. The observations are supposed to satisfy a semi-parametric long-range dependence assumption with distinct memory parameters on each stage.…

In this paper, we present an observation scheme, with proven Lyapunov stability, for estimating a humanoid's floating base orientation. The idea is to use velocity aided attitude estimation, which requires to know the velocity of the…

A method for estimating the aspect angle of ships at sea from an ISAR is developed. The ISAR AutoTrack (IAT) algorithm uses the information from the adaptive motion compensation velocity to improve the tracker estimation of the ship aspect…

This paper introduces a novel human pose estimation approach using sparse inertial sensors, addressing the shortcomings of previous methods reliant on synthetic data. It leverages a diverse array of real inertial motion capture data from…

A Magnetic field Aided Inertial Navigation System (MAINS) for indoor navigation is proposed in this paper. MAINS leverages an array of magnetometers to measure spatial variations in the magnetic field, which are then used to estimate the…

This paper compares two basic approaches to solving ordinary differential equations, which form the basis for attitude computation in strapdown inertial navigation systems, namely, the Taylor series expansion approach that was used in its…

Inertial sensors are widely used in a variety of applications. A common task is orientation estimation. To tackle such a task, attitude and heading reference system algorithms are applied. Relying on the gyroscope readings, the…

This paper presents a novel approach to vehicle positioning that operates without reliance on the global navigation satellite system (GNSS). Traditional GNSS approaches are vulnerable to interference in certain environments, rendering them…