Related papers: Real-time Magnetometer Disturbance Estimation via …
In this paper we address smoothing-that is, optimisation-based-estimation techniques for localisation problems in the case where motion sensors are very accurate. Our mathematical analysis focuses on the difficult limit case where motion…
This note describes a reference governor design for a continuous-time nonlinear system with an additive disturbance. The design is based on predicting the response of the nonlinear system by the response of a linear model with a set-bounded…
In this paper, we analyze the orientation estimation problem using inertial measurement units. Many estimation algorithms suffer degraded performance when accelerations other than gravity affect the accelerometer. We show that linear…
The magnetic diagnostics subsystem of the LISA Technology Package (LTP) on board the LISA PathFinder (LPF) spacecraft includes a set of four tri-axial fluxgate magnetometers, intended to measure with high precision the magnetic field at…
This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that the vehicle is equipped with an Inertial Measurement Unit (IMU) providing body-frame measurements of the angular…
Real-time tracking of inertia is important because it reflects the power system's ability to withstand contingencies and maintain frequency security. This paper proposes a practical approach to estimate inertia using ambient phasor…
Engineered systems naturally experience large disturbances that can disrupt desired operation because the system may fail to recover to a stable equilibrium point. It is valuable to determine the mechanism of instability when the system is…
Airborne Magnetic Anomaly Navigation (MagNav) provides a jamming-resistant and robust alternative to satellite navigation but requires the real-time compensation of the aircraft platform's large and dynamic magnetic interference.…
Unmanned vehicle navigation concerns estimating attitude, position, and linear velocity of the vehicle the six degrees of freedom (6 DoF). It has been known that the true navigation dynamics are highly nonlinear modeled on the Lie Group of…
Navigation in Global Positioning Systems (GPS)-denied environments requires robust estimators reliant on fusion of inertial sensors able to estimate rigid-body's orientation, position, and linear velocity. Ultra-wideband (UWB) and Inertial…
Magnetic-anomaly navigation, leveraging small-scale variations in the Earth's magnetic field, is a promising alternative when GPS is unavailable or compromised. Airborne systems face a key challenge in extracting geomagnetic field data: the…
Integration of inertial navigation system (INS) and global navigation satellite system (GNSS) is usually implemented in engineering applications by way of Kalman-like filtering. This form of INS/GNSS integration is prone to attitude…
We propose methods to solve time-varying, sensor and actuator (SaA) selection problems for uncertain cyber-physical systems. We show that many SaA selection problems for optimizing a variety of control and estimation metrics can be posed as…
Rotation estimation plays a fundamental role in computer vision and robot tasks, and extremely robust rotation estimation is significantly useful for safety-critical applications. Typically, estimating a rotation is considered a non-linear…
Magnet errors in storage rings significantly degrade beam performance, impacting the brightness and stability of the light source. Therefore, beam-based correction is crucial for the safe operation of machines and the stability of radiated…
Inertial sensors play a pivotal role in indoor localization, which in turn lays the foundation for pervasive personal applications. However, low-cost inertial sensors, as commonly found in smartphones, are plagued by bias and noise, which…
The modeling of electric machines and power transformers typically involves systems of nonlinear magnetostatics or -quasistatics, and their efficient and accurate simulation is required for the reliable design, control, and optimization of…
This paper proposes a tractable framework to determine key characteristics of non-linear dynamic systems by converting physics-informed neural networks to a mixed integer linear program. Our focus is on power system applications.…
We report numerical and experimental investigations into modulation instability in a nonlinear magnetoinductive waveguide. By numerical simulation we find that modulation instability occurs in an electrical circuit model of a…
A simple approach to gyro and accelerometer bias estimation is proposed. It does not involve Kalman filtering or similar formal techniques. Instead, it is based on physical intuition and exploits a duality between gimbaled and strapdown…