Related papers: Strapdown Inertial Navigation System Initial Align…
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…
This tutorial presents a control-oriented introduction to aided inertial navigation systems using a Lie-group formulation centered on the extended Special Euclidean group SE_2(3). The focus is on developing a clear and…
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…
An autonomous system is presented to solve the problem of in space assembly, which can be used to further the NASA goal of deep space exploration. Of particular interest is the assembly of large truss structures, which requires precise and…
We present an ambiguity resolution method for Global Navigation Satellite System (GNSS)-based attitude determination. A GNSS attitude model with nonlinear constraints is used to rigorously incorporate a priori information. Given the…
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…
Inertial navigation systems (INS) are widely used in both manned and autonomous platforms. One of the most critical tasks prior to their operation is to accurately determine their initial alignment while stationary, as it forms the…
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…
Sensor calibration, which can be intrinsic or extrinsic, is an essential step to achieve the measurement accuracy required for modern perception and navigation systems deployed on autonomous robots. To date, intrinsic calibration models for…
This article proposes a visual inertial navigation algorithm intended to diminish the horizontal position drift experienced by autonomous fixed wing UAVs (Unmanned Air Vehicles) in the absence of GNSS (Global Navigation Satellite System)…
This paper develops a geometric framework for invariant filtering of relative dynamics on Lie groups. We first revisit the notion of state trajectory independence, under which the estimation error evolves autonomously, and derive new…
Reliable spacecraft attitude control depends on accurate prediction of attitude dynamics, particularly when model-based strategies such as Model Predictive Control (MPC) are employed, where performance is limited by the quality of the…
Autonomous underwater vehicles (AUV) are commonly used in many underwater applications. Recently, the usage of multi-rotor unmanned autonomous vehicles (UAV) for marine applications is receiving more attention in the literature. Usually,…
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…
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,…
Bundle Adjustment (BA) has been proven to improve the accuracy of the LiDAR mapping. However, the BA method has not yet been properly employed in a dead-reckoning navigation system. In this paper, we present a frame-to-frame (F2F) BA for…
Reliable vehicle navigation in urban environments remains a challenging problem due to frequent satellite signal blockages caused by tall buildings and complex infrastructure. While fusing inertial reading with satellite positioning in an…
Strapdown inertial navigation systems are sensitive to the quality of the data provided by the accelerometer and gyroscope. Low-grade IMUs in handheld smart-devices pose a problem for inertial odometry on these devices. We propose a scheme…
Attitude and heading reference systems (AHRS) play a central role in autonomous navigation systems on land, air and maritime platforms. AHRS utilize inertial sensor measurements to estimate platform orientation. In recent years, there has…
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…