Related papers: iNavFIter: Next-Generation Inertial Navigation Com…
Velocity estimation is a core component of state estimation and sensor fusion pipelines in mobile robotics and autonomous ground systems, directly affecting navigation accuracy, control stability, and operational safety. In conventional…
Recent scientific and technological advances have enabled the detection of gravitational waves, autonomous driving, and the proposal of a communications network on the Moon (Lunar Internet or LunaNet). These efforts are based on the…
An experimental setup is presented, developed for comprehensive evaluation of high performance inertial sensors for translational motion, accelerometers and geophones. It employs a precision, robust air bearing stage driven by integral…
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…
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…
Inference of three-dimensional motion from the fusion of inertial and visual sensory data has to contend with the preponderance of outliers in the latter. Robust filtering deals with the joint inference and classification task of selecting…
We propose an indoor navigation algorithm based on pedestrian dead reckoning (PDR) using an inertial measurement unit in a smartphone and map matching. The proposed indoor navigation system is user-friendly and convenient because it…
This paper proposes a position fixing method for autonomous navigation using partial gravity gradient solutions from cold atom interferometers. Cold atom quantum sensors can provide ultra-precise measurements of inertial quantities, such as…
While Global Navigation Satellite System (GNSS) is often used to provide global positioning if available, its intermittency and/or inaccuracy calls for fusion with other sensors. In this paper, we develop a novel GNSS-Visual-Inertial…
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…
An Inertial Navigation System (INS) is a system that integrates acceleration and angular velocity readings from an Inertial Measurement Unit (IMU), along with other sensors such as Global Navigation Satellite Systems (GNSS) position, GNSS…
Recently, the community has witnessed numerous datasets built for developing and testing state estimators. However, for some applications such as aerial transportation or search-and-rescue, the contact force or other disturbance must be…
Inertial localisation is an important technique as it enables ego-motion estimation in conditions where external observers are unavailable. However, low-cost inertial sensors are inherently corrupted by bias and noise, which lead to unbound…
Accuracy and computational efficiency are the most important metrics to Visual Inertial Navigation System (VINS). The existing VINS algorithms with either high accuracy or low computational complexity, are difficult to provide the high…
This paper describes a novel method for the estimation of the trajectory curve and orientation of a rigid body moving along a railway track. Compared to other recent developments in the literature, the presented approach has the significant…
This letter proposes a reactive navigation strategy for recovering the altitude, translational velocity and orientation of Micro Aerial Vehicles. The main contribution lies in the direct and tight fusion of Inertial Measurement Unit (IMU)…
In this paper, we study in-depth the problem of online self-calibration for robust and accurate visual-inertial state estimation. In particular, we first perform a complete observability analysis for visual-inertial navigation systems…
Inertial odometry (IO) directly estimates the position of a carrier from inertial sensor measurements and serves as a core technology for the widespread deployment of consumer grade localization systems. While existing IO methods can…
Combining Global Navigation Satellite System (GNSS) with visual and inertial sensors can give smooth pose estimation without drifting. The fusion system gradually degrades to Visual-Inertial Odometry (VIO) with the number of satellites…
Inertial navigation using low-cost MEMS sensors is plagued by rapid drift due to sensor noise and bias instability. While recent data-driven approaches have made significant strides, they often struggle with micro-drifts during stationarity…