Related papers: Efficient Attitude Estimators: A Tutorial and Surv…
The task of indoor positioning is fundamental to several applications, including navigation, healthcare, location-based services, and security. An emerging field is inertial navigation for pedestrians, which relies only on inertial sensors…
Attitude estimation is often a prerequisite for control of the attitude or orientation of mechanical systems. Current attitude estimation algorithms use coordinate representations for the group of rigid body orientations. All coordinate…
We present a method to improve the accuracy of a foot-mounted, zero-velocity-aided inertial navigation system (INS) by varying estimator parameters based on a real-time classification of motion type. We train a support vector machine (SVM)…
The miniaturization of inertial measurement units (IMUs) facilitates their widespread use in a growing number of application domains. Orientation estimation is a prerequisite for most further data processing steps in inertial motion…
This paper introduces a generic filter-based state estimation framework that supports two state-decoupling strategies based on cross-covariance factorization. These strategies reduce the computational complexity and inherently support true…
Autonomous vehicles and wheeled robots are widely used in many applications in both indoor and outdoor settings. In practical situations with limited GNSS signals or degraded lighting conditions, the navigation solution may rely only on…
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…
The task of strapdown inertial navigation system (SINS) initial alignment is to calculate the attitude transformation matrix from body frame to navigation frame. In this paper, such attitude transformation matrix is divided into two parts…
The essential of navigation, perception, and decision-making which are basic tasks for intelligent robots, is to estimate necessary system states. Among them, navigation is fundamental for other upper applications, providing precise…
Accurate alignment of a fixed mobile device equipped with inertial sensors inside a moving vehicle is important for navigation, activity recognition, and other applications. Accurate estimation of the device mounting angle is required to…
The existing attitude controllers (without angular velocity measurements) involve explicitly the orientation (\textit{e.g.,} the unit-quaternion) in the feedback. Unfortunately, there does not exist any sensor that directly measures the…
This paper proposes a novel algorithm to determine the optimal placement of redundant inertial sensors such as accelerometers and gyroscopes (gyros) for increasing the sensing accuracy. In this paper, we have proposed a novel iterative…
Inertial navigation applications are usually referenced to a rotating frame. Consideration of the navigation reference frame rotation in the inertial navigation algorithm design is an important but so far less seriously treated issue,…
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…
Inertial sensing is used in many applications and platforms, ranging from day-to-day devices such as smartphones to very complex ones such as autonomous vehicles. In recent years, the development of machine learning and deep learning…
Many smartphone applications use inertial measurement units (IMUs) to sense movement, but the use of these sensors for pedestrian localization can be challenging due to their noise characteristics. Recent data-driven inertial odometry…
This paper proposes new algorithms for attitude estimation and control based on fused inertial vector measurements using linear complementary filters principle. First, n-order direct and passive complementary filters combined with TRIAD…
The acquisition of attitude, velocity, and position is an essential task in the field of inertial navigation, achieved by integrating the measurements from inertial sensors. Recently, the ultra-precision inertial navigation computation has…
A global navigation satellite system (GNSS) is a sensor that can acquire 3D position and velocity in an earth-fixed coordinate system and is widely used for outdoor position estimation of robots and vehicles. Various GNSS/inertial…
In this work we present a practical algorithm for calibrating a magnetometer for the presence of magnetic disturbances and for magnetometer sensor errors. To allow for combining the magnetometer measurements with inertial measurements for…