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Global Positioning System (GPS) and inertial measurement unit (IMU) sensors are commonly integrated using the extended Kalman filter (EKF), for achieving better navigation performance. However, because of nonlinearity, the performance of…

This paper deals with the implementation of the extended robust Kalman filter (ERKF) which was developed considering uncertainties in the parameter matrices of the underlying state-space model. A key contribution of this work is the…

The problem of cooperative localization for a small group of Unmanned Aerial Vehicles (UAVs) in a GNSS denied environment is addressed in this paper. The presented approach contains two sequential steps: first, an algorithm called…

Attitude estimation is the process of computing the orientation angles of an object with respect to a fixed frame of reference. Gyroscope, accelerometer, and magnetometer are some of the fundamental sensors used in attitude estimation. The…

With substantial recent developments in aviation technologies, Unmanned Aerial Vehicles (UAVs) are becoming increasingly integrated in commercial and military operations internationally. Research into the applications of aircraft data is…

In this work, we explore the recent advances in equivariant filtering for inertial navigation systems to improve state estimation for uncrewed aerial vehicles (UAVs). Traditional state-of-the-art estimation methods, e.g., the multiplicative…

Accurate estimation of the relative attitude and angular velocity between two rigid bodies is fundamental in aerospace applications such as spacecraft rendezvous and docking. In these scenarios, a chaser vehicle must determine the…

We propose a Dynamical Low-Rank Ensemble Kalman Filter (DLR-ENKF) for efficient joint state-parameter estimation in high-dimensional dynamical systems. The method extends the DLR-ENKF formulation of arXiv:2509.11210 to the augmented…

We present a system for the boresighting of sensors using inertial measurement devices as the basis for developing a range of dynamic real-time sensor fusion applications. The proof of concept utilizes a COTS FPGA platform for sensor fusion…

Search and rescue (SAR) operations require rapid responses to save lives or property. Unmanned Aerial Vehicles (UAVs) equipped with vision-based systems support these missions through prior terrain investigation or real-time assistance…

Stochastic filters for on-line state estimation are a core technology for autonomous systems. The performance of such filters is one of the key limiting factors to a system's capability. Both asymptotic behavior (e.g.,~for regular…

The problem of multisensor multitarget state estimation in the presence of constant but unknown sensor biases is investigated. The classical approach to this problem is to augment the state vector to include the states of all the targets…

This paper describes a novel tracking filter, designed primarily for use in collision avoidance systems on autonomous surface vehicles (ASVs). The proposed methodology leverages real-time kinematic information broadcast via the Automatic…

The performance of navigation algorithms significantly determines the trajectory tracking accuracy of the guidance, navigation, and control (GNC) system of an autonomous underwater vehicle (AUV). In closed-loop operation, the interaction…

Relative state estimation is crucial for vision-based swarms to estimate and compensate for the unavoidable drift of visual odometry. For autonomous drones equipped with the most compact sensor setting -- a stereo camera that provides a…

This document describes standard approaches for filtering and estimation for quadrotors, created for the Udacity Flying Cars course. We assume previous knowledge of probability and some knowledge of linear algebra. We do not assume previous…

Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs) are used for a wide variety of missions related to exploration and scientific research. Successful navigation by these systems requires a good localization system.…

We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…

The in-flight alignment is a critical stage for airborne INS/GPS applications. The alignment task is usually carried out by the Kalman filtering technique that necessitates a good initial attitude to obtain satisfying performance. Due to…

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…