Related papers: Inertial based Integration with Transformed INS Me…
In this paper, the optimization-based alignment (OBA) methods are investigated with main focus on the vector observations construction procedures for the strapdown inertial navigation system (SINS). The contributions of this study are…
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…
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…
To improve the accuracy and robustness of the inertial navigation systems (INS) for wheeled robots without adding additional component cost, we propose Wheel-INS, a complete dead reckoning solution based on a wheel-mounted…
In underwater navigation systems, strap-down inertial navigation system/Doppler velocity log (SINS/DVL)-based loosely coupled architectures are widely adopted. Conventional approaches project DVL velocities from the body coordinate system…
Motivated by the goal of achieving robust, drift-free pose estimation in long-term autonomous navigation, in this work we propose a methodology to fuse global positional information with visual and inertial measurements in a tightly-coupled…
Inertial localisation is an important technique as it enables ego-motion estimation in conditions where external observers are unavailable. However, low-cost inertial sensors are inherently corrupted by bias and noise, which lead to unbound…
Global Navigation Satellite Systems (GNSS) aided Inertial Navigation System (INS) is a fundamental approach for attaining continuously available absolute vehicle position and full state estimates at high bandwidth. For transportation…
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 measurement unit (IMU) preintegration is widely used in factor graph optimization (FGO); e.g., in visual-inertial navigation system and global navigation satellite system/inertial navigation system (GNSS/INS) integration. However,…
Building a complete inertial navigation system using the limited quality data provided by current smartphones has been regarded challenging, if not impossible. This paper shows that by careful crafting and accounting for the weak…
A reliable pose estimator robust to environmental disturbances is desirable for mobile robots. To this end, inertial measurement units (IMUs) play an important role because they can perceive the full motion state of the vehicle…
In this paper we propose a new analytical preintegration theory for graph-based sensor fusion with an inertial measurement unit (IMU) and a camera (or other aiding sensors).Rather than using discrete sampling of the measurement dynamics as…
Inertial navigation and attitude initialization in polar areas become a hot topic in recent years in the navigation community, as the widely-used navigation mechanization of the local level frame encounters the inherent singularity when 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,…
Fully actuated multirotor platforms decouple translational force generation from vehicle attitude, enabling independent control of position and orientation and shifting performance limitations from attitude authority to actuator dynamics…
The implementation challenges of cooperative localization by dual foot-mounted inertial sensors and inter-agent ranging are discussed and work on the subject is reviewed. System architecture and sensor fusion are identified as key…
One of core advantages of the SE2(3) Lie group framework for navigation modeling lies in the autonomy of error propagation. Current research on Lie group based extended Kalman filters has demonstrated that error propagation autonomy holds…
Successful navigation of a rigid-body traveling with six degrees of freedom (6 DoF) requires accurate estimation of attitude , position, and linear velocity. The true navigation dynamics are highly nonlinear and are modeled on the matrix…
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…