Related papers: Navigation-compatible hybrid quantum accelerometer…
While quantum accelerometers sense with extremely low drift and low bias, their practical sensing capabilities face two limitations compared with classical accelerometers: a lower sample rate due to cold atom interrogation time, and a…
We study two hybridization algorithms used for the combination of a quantum inertial sensor based on atom interferometry with a classical inertial sensor for onboard acceleration measurements. The first is based on the direct extraction of…
The fusion between an inertial navigation system and global navigation satellite systems is regularly used in many platforms such as drones, land vehicles, and marine vessels. The fusion is commonly carried out in a model-based extended…
We demonstrate a hybrid accelerometer that benefits from the advantages of both conventional and atomic sensors in terms of bandwidth (DC to 430 Hz) and long term stability. First, the use of a real time correction of the atom…
Modern autonomous navigation for unmanned ground vehicles relies on different estimators to fuse inertial sensors and GNSS measurements. However, the constant noise covariance matrices often struggle to account for dynamic real-world…
Harnessing the potential of quantum sensors to assist in navigation requires enabling their operation in complex, dynamic environments and integrating them within existing navigation systems. While cross-couplings from platform dynamics…
We discuss the design of quantum hybrid inertial sensor that combines an optomechanical inertial sensor with the retro-reflector of a cold atom interferometer. This sensor fusion approach provides absolute and high accuracy measurements…
This paper introduces a novel approach to detect and address faulty or corrupted external sensors in the context of inertial navigation by leveraging a switching Kalman Filter combined with parameter augmentation. Instead of discarding the…
Magnetometer and inertial sensors are widely used for orientation estimation. Magnetometer usage is often troublesome, as it is prone to be interfered by onboard or ambient magnetic disturbance. The onboard soft-iron material distorts not…
Accurate measurement of inertial quantities is essential in geophysics, geodesy, fundamental physics and navigation. For instance, inertial navigation systems require stable inertial sensors to compute the position and attitude of the…
Precise user localization and tracking enhances energy-efficient and ultra-reliable low latency applications in the next generation wireless networks. In addition to computational complexity and data association challenges with…
The extended Kalman filter (EKF) is a widely adopted method for sensor fusion in navigation applications. A crucial aspect of the EKF is the online determination of the process noise covariance matrix reflecting the model uncertainty. While…
Inertial sensors based on cold atom interferometry exhibit many interesting features for applications related to inertial navigation, particularly in terms of sensitivity and long-term stability. However, at present the typical atom…
Navigation plays a vital role in the ability of autonomous surface and underwater platforms to complete their tasks. Most navigation systems apply a fusion between inertial sensors and other external sensors, such as global navigation…
We present a theoretical proposal and simulation study of a digital closed-loop thermal atomic-beam interferometer for inertial navigation applications. The scheme synchronizes phase biasing with momentum-kick reversal through the atomic…
This paper discusses an innovative adaptive heterogeneous fusion algorithm based on estimation of the mean square error of all variables used in real time processing. The algorithm is designed for a fusion between derivative and absolute…
This paper investigates the problem of inertial navigation system (INS) filter design through the lens of symmetry. The extended Kalman filter (EKF) and its variants have been the staple of INS filtering for 50 years. However, recent…
We present a comprehensive framework for fusing measurements from multiple and generally placed accelerometers and gyroscopes to perform inertial navigation. Using the angular acceleration provided by the accelerometer array, we show that…
Robust and accurate acceleration tracking remains a challenge in many fields. For geophysics and economic geology, precise gravity mapping requires onboard sensors combined with accurate positioning and navigation systems. Cold-atom-based…
The Extended Kalman Filter (EKF) is both the historical algorithm for multi-sensor fusion and still state of the art in numerous industrial applications. However, it may prove inconsistent in the presence of unobservability under a group of…