Related papers: Efficient Attitude Estimators: A Tutorial and Surv…
Inertial Navigation Systems (INS) are algorithms that fuse inertial measurements of angular velocity and specific acceleration with supplementary sensors including GNSS and magnetometers to estimate the position, velocity and attitude, or…
Inertial sensors are widely utilized in smartphones, drones, robots, and IoT devices, playing a crucial role in enabling ubiquitous and reliable localization. Inertial sensor-based positioning is essential in various applications, including…
The inertial navigation system (INS) has been widely used to provide self-contained and continuous motion estimation in intelligent transportation systems. Recently, the emergence of chip-level inertial sensors has expanded the relevant…
This study presents the design, fabrication, and test of a micro accelerometer with intrinsic processing capabilities, that integrates the functions of sensing and computing in the same MEMS. The device consists of an inertial mass…
In this note, the attitude and inertial sensors drift biases estimation for Strapdown inertial navigation system is investigated. A semi-analytic method is proposed, which contains two interlaced solution procedures. Specifically, the…
Applications of inertial measurement units are extremely diverse, and are expected to see a further increase in number due to current trends in robotics as well as recent advances in Micro Electromechanical sensors (MEMS). The traditional…
Inertial odometry is an attractive solution to the problem of state estimation for agile quadrotor flight. It is inexpensive, lightweight, and it is not affected by perceptual degradation. However, only relying on the integration of the…
Inertial-sensor-based attitude estimation is a crucial technology in various applications, from human motion tracking to autonomous aerial and ground vehicles. Application scenarios differ in characteristics of the performed motion,…
The defects of the traditional strapdown inertial navigation algorithms become well acknowledged and the corresponding enhanced algorithms have been quite recently proposed trying to mitigate both theoretical and algorithmic defects. In…
Knowledge of how a body is oriented relative to the world is frequently invaluable information in the field of robotics. An attitude estimator that fuses 3-axis gyroscope, accelerometer and magnetometer data into a quaternion orientation…
Inertial sensors are widely used in a variety of applications. A common task is orientation estimation. To tackle such a task, attitude and heading reference system algorithms are applied. Relying on the gyroscope readings, the…
In various applications of land vehicle navigation and automatic guidance systems, Global Navigation Satellite System/Inertial Measurement Unit (GNSS/IMU) positioning performance crucially depends on the attitude determination accuracy…
There are several attitude estimation algorithms in existence, all of which use local coordinate representations for the group of rigid body orientations. All local coordinate representations of the group of orientations have associated…
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…
Inertial Navigation Systems (INS) are a key technology for autonomous vehicles applications. Recent advances in estimation and filter design for the INS problem have exploited geometry and symmetry to overcome limitations of the classical…
Accurate state estimation using low-cost MEMS (Micro Electro- Mechanical Systems) sensors present on Commercial-off-the-shelf (COTS) drones is a challenging problem. Most UAV systems use a combination of a gyroscope, an accelerometer, and a…
This article proposes an inertial navigation algorithm intended to lower the negative consequences of the absence of GNSS (Global Navigation Satellite System) signals on the navigation of autonomous fixed wing low SWaP (Size, Weight, and…
Accurate and robust attitude estimation is a central challenge for autonomous vehicles operating in GNSS-denied or highly dynamic environments. In such cases, Inertial Measurement Units (IMUs) alone are insufficient for reliable tilt…
This paper presents a novel end-to-end deep learning framework for real-time inertial attitude estimation using 6DoF IMU measurements. Inertial Measurement Units are widely used in various applications, including engineering and medical…
Inertial motion analysis is having a growing interest during the last decades due to its advantages over classical optical systems. The technological solution based on inertial measurement units allows the measurement of movements in daily…