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The Gravity Advanced Package is an instrument composed of an electrostatic accelerometer called MicroSTAR and a rotating platform called Bias Rejection System. It aims at measuring with no bias the non-gravitational acceleration of a…
Low-cost micro-electromechanical accelerometers are widely used in navigation, robotics, and consumer devices for motion sensing and position estimation. However, their performance is often degraded by bias errors. To eliminate…
A novel near-field integrated sensing and communications framework for secure unmanned aerial vehicle (UAV) networks with high time efficiency is proposed. A ground base station (GBS) with large aperture size communicates with one…
In recent years, direction of arrival estimation utilizing non-circular signals has become a focal point for scholarly research. To enhance the degrees of freedom (DOF) in receiver arrays specifically for non-circular signal DOA estimation,…
Achieving reliable ego motion estimation for agile robots, e.g., aerobatic aircraft, remains challenging because most robot sensors fail to respond timely and clearly to highly dynamic robot motions, often resulting in measurement blurring,…
We present a comprehensive framework for fusing measurements from multiple and generally placed accelerometers and gyroscopes to perform inertial navigation. Using the angular acceleration provided by the accelerometer array, we show that…
In order to test gravitation in the Solar System, it is necessary to improve the orbit restitution of interplanetary spacecrafts. The addition of an accelerometer on board is a major step toward this goal because this instrument measures…
This paper presents a robust non-linear state estimator for autonomous surface vehicles, where the movement is restricted to the horizontal plane. It is assumed that only the vehicle position and orientation can be measured, being the…
A vision-based trajectory analysis solution is proposed to address the "zero-speed braking" issue caused by inaccurate Controller Area Network (CAN) signals in commercial vehicle Automatic Emergency Braking (AEB) systems during low-speed…
This paper focuses on the gridless direction-of-arrival (DoA) estimation for data acquired by non-uniform linear arrays (NLAs) in automotive applications. Atomic norm minimization (ANM) is a promising gridless sparse recovery algorithm…
Radio tracking of interplanetary probes is an important tool for navigation purposes as well as for testing the laws of physics or exploring planetary environments. The addition of an accelerometer on board a spacecraft provides orbit…
In this work a method for using accelerometers for the determination of angular velocity and acceleration is presented. Minimum sensor requirements and insights into how an array of accelerometers can be configured to maximize estimator…
Field-programmable gate array (FPGA) based accelerators are being widely used for acceleration of convolutional neural networks (CNNs) due to their potential in improving the performance and reconfigurability for specific application…
This paper studies the optimal state estimation for a dynamic system, whose transfer function can be nonlinear and the input noise can be of arbitrary distribution. Our algorithm differs from the conventional extended Kalman filter (EKF)…
This letter investigates the non-coherent Direction of Arrival (DOA) estimation problem dealing with the DOA estimation from magnitude only measurements of the array output. The magnitude squared of the array output is expanded as a…
Cubature Kalman Filter (CKF) has good performance when handling nonlinear dynamic state estimations. However, it cannot work well in non-Gaussian noise and bad data environment due to the lack of auto-adaptive ability to measure noise…
Inertial Velocity-Aided Attitude (VAA), the estimation of the velocity and attitude of a vehicle using gyroscope, accelerometer, and inertial-frame velocity (e.g. GPS velocity) measurements, is an important problem in the control of…
In this work we solve the position-aided 3D navigation problem using a nonlinear estimation scheme. More precisely, we propose a nonlinear observer to estimate the full state of the vehicle (position, velocity, orientation and gyro bias)…
This study presents a nonlinear signal processing method for accurate radar-based heartbeat interval estimation by exploiting the periodicity of higher-order harmonics inherent in heartbeat signals. Unlike conventional approaches that…
This paper concerns the estimation problem of attitude, position, and linear velocity of a rigid-body autonomously navigating with six degrees of freedom (6 DoF). The navigation dynamics are highly nonlinear and are modeled on the matrix…