Related papers: A Trident Quaternion Framework for Inertial-based …
A revised version of the quaternion approach for numerical integration of the equations of motion for rigid polyatomic molecules is proposed. The modified approach is based on a formulation of the quaternion dynamics with constraints. This…
This paper proposes to use a newly-derived transformed inertial navigation system (INS) mechanization to fuse INS with other complementary navigation systems. Through formulating the attitude, velocity and position as one group state of…
Recently, data-driven inertial navigation approaches have demonstrated their capability of using well-trained neural networks to obtain accurate position estimates from inertial measurement units (IMU) measurements. In this paper, we…
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…
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…
In this article, a tutorial introduction to visual-inertial navigation(VIN) is presented. Visual and inertial perception are two complementary sensing modalities. Cameras and inertial measurement units (IMU) are the corresponding sensors…
Rigid motion computation or estimation is a cornerstone in numerous fields. Attitude computation can be achieved by integrating the angular velocity measured by gyroscopes, the accuracy of which is crucially important for the dead-reckoning…
This work introduces a single-range-aided navigation observer that reconstructs the full state of a rigid body using only an Inertial Measurement Unit (IMU), a body-frame vector measurement (e.g., magnetometer), and a distance measurement…
A current-aided inertial navigation framework is proposed for small autonomous underwater vehicles in long-duration operations (> 1 hour), where neither frequent surfacing nor consistent bottom-tracking are available. We instantiate this…
In this work, we propose a novel method for performing inertial aided navigation, by using deep neural networks (DNNs). To date, most DNN inertial navigation methods focus on the task of inertial odometry, by taking gyroscope and…
The realization of motion description is a challenging work for fixed-wing Unmanned Aerial Vehicle (UAV) acrobatic flight, due to the inherent coupling problem in ranslational-rotational motion. This paper aims to develop a novel maneuver…
This paper presents a novel online capable method for simultaneous estimation of human motion in terms of segment orientations and positions along with sensor-to-segment calibration parameters from inertial sensors attached to the body. In…
The design of navigation observers able to simultaneously estimate the position, linear velocity and orientation of a vehicle in a three-dimensional space is crucial in many robotics and aerospace applications. This problem was mainly dealt…
We give a simple and self contained introduction to quaternions and their practical usage in dynamics. The rigid body dynamics are presented in full details. In the appendix, some more exotic relations are given that allow to write more…
Data-driven character animation techniques rely on the existence of a properly established model of motion, capable of describing its rich context. However, commonly used motion representations often fail to accurately encode the full…
This paper provides new results for a tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid complexities and…
A novel modular modeling and control framework based on Lagrangian mechanics is proposed for multibody systems, motivated by the challenges of modular control of systems with closed kinematic chains and by the need for a modeling framework…
Deep learning for predicting or generating 3D human pose sequences is an active research area. Previous work regresses either joint rotations or joint positions. The former strategy is prone to error accumulation along the kinematic chain,…
Navigation is crucial for animal behavior and is assumed to require an internal representation of the external environment, termed a cognitive map. The precise form of this representation is often considered to be a metric representation of…
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…