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

Time-equispaced inertial measurements are practically used as inputs for motion determination. Polynomial interpolation is a common technique of recovering the gyroscope signal but is subject to a fundamentally numerical stability problem…

This study proposes a learning-based method with domain adaptability for input estimation of vehicle suspension systems. In a crowdsensing setting for bridge health monitoring, vehicles carry sensors to collect samples of the bridge's…

This paper addresses the leader-following attitude consensus problem for a group of spacecraft when at least one follower can access the leader's attitude and velocity relative to the inertial space. A nonlinear distributed observer is…

Spectral lightcurves consisting of time series single-pixel spectral measurements of spacecraft are used to infer the spacecraft's attitude and rotation. Two methods are used. One based on numerical optimisation of a regularised least…

We analyze the observability of motion estimates from the fusion of visual and inertial sensors. Because the model contains unknown parameters, such as sensor biases, the problem is usually cast as a mixed identification/filtering, and the…

Sideslip angle is an important variable for understanding and monitoring vehicle dynamics but it lacks an inexpensive method for direct measurement. Therefore, it is typically estimated from inertial and other proprioceptive sensors onboard…

Modern clinical decision support systems can concurrently serve multiple, independent medical imaging institutions, but their predictive performance may degrade across sites due to variations in patient populations, imaging hardware, and…

This paper studies the attitude control of a satellite in three-axis by thrusters. The mathematical model of attitude dynamics and kinematics of the satellite is represented as a switched system with sub-systems. Each sub-system is defined…

In this article, a tutorial introduction to visual-inertial navigation(VIN) is presented. Visual and inertial perception are two complementary sensing modalities. Cameras and inertial measurement units (IMU) are the corresponding sensors…

This paper revisits the problem of orientation estimation for rigid bodies through a novel framework based on scalar measurements. Unlike traditional vector-based methods, the proposed approach enables selective utilization of only the…

A model of carrier phase measurement (as carried out by a satellite navigation receiver) is formulated based on electromagnetic theory. The model shows that the phase of the open-circuit voltage induced in the receiver antenna with respect…

Accurate alignment of a fixed mobile device equipped with inertial sensors inside a moving vehicle is important for navigation, activity recognition, and other applications. Accurate estimation of the device mounting angle is required to…

Constant biases associated to measured linear and angular velocities of a moving object can be estimated from measurements of a static scene by embedded brightness and depth sensors. We propose here a Lyapunov-based observer taking…

Autonomous mobile robots are widely used for navigation, transportation, and inspection tasks indoors and outdoors. In practical situations of limited satellite signals or poor lighting conditions, navigation depends only on inertial…

We prove error estimates for the semi-implicit numerical scheme of sphere-constrained high-index saddle dynamics, which serves as a powerful instrument in finding saddle points and constructing the solution landscapes of constrained systems…

This paper presents a novel approach to the problem of almost global attitude stabilization. The reduced attitude is steered along a geodesic path on the n-sphere. Meanwhile, the full attitude is stabilized on SO(n). This action,…

In this paper, we perform registration of noisy curves. We provide an appropriate model in estimating the rotation and scaling parameters to adjust a set of curves through a M-estimation procedure. We prove the consistency and the…

This short paper presents research findings on two learning-based methods for quantifying measurement uncertainties in global navigation satellite systems (GNSS). We investigate two learning strategies: offline learning for outlier…

Sensor drift is a well-known issue in the field of sensors and measurement and has plagued the sensor community for many years. In this paper, we propose a sensor drift correction method to deal with the sensor drift problem. Specifically,…

Gait speed is a vital health indicator for older adults, as changes in gait speed can reflect physiological and functional decline. Ambient sensors offer a promising, privacy-preserving solution for continuous in-home monitoring of gait…