Related papers: PilotEar: Enabling In-ear Inertial Navigation
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)…
Robust and accurate six degree-of-freedom tracking on portable devices remains a challenging problem, especially on small hand-held devices such as smartphones. For improved robustness and accuracy, complementary movement information from…
The measurement of the pulse wave has proven to be a vital tool in medical diagnosis. Whereby most pulse wave measurements are carried out at extremities, this work proposes a system for measuring the pulse wave and the Pulse Arrival Time…
The Global Positioning Systems (GPS) and Inertial Navigation System (INS) technology have attracted a considerable importance recently because of its large number of solutions serving both military as well as civilian applications. This…
This paper proposes a real-time approach for long-term inertial navigation based only on an Inertial Measurement Unit (IMU) for self-localizing wheeled robots. The approach builds upon two components: 1) a robust detector that uses…
Nowadays, smartphones are not utilized for communications only. Smartphones are equipped with a lot of sensors that can be utilized for different purposes. For example, inertial sensors have been used extensively in recent years for…
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…
Inertial navigation using low-cost MEMS sensors is plagued by rapid drift due to sensor noise and bias instability. While recent data-driven approaches have made significant strides, they often struggle with micro-drifts during stationarity…
Phased-array Bluetooth systems have emerged as a low-cost alternative for performing aided inertial navigation in GNSS-denied use cases such as warehouse logistics, drone landings, and autonomous docking. Basing a navigation system off of…
Inertial sensors play a pivotal role in indoor localization, which in turn lays the foundation for pervasive personal applications. However, low-cost inertial sensors, as commonly found in smartphones, are plagued by bias and noise, which…
We present Acoustic Inertial Measurement (AIM), a one-of-a-kind technique for indoor drone localization and tracking. Indoor drone localization and tracking are arguably a crucial, yet unsolved challenge: in GPS-denied environments,…
We present our the construction of an atom interferometer for inertial sensing in microgravity, as part of the I.C.E. (\textit{Interf\'{e}rom\'{e}trie Coh\'{e}rente pour l'Espace}) collaboration. On-board laser systems have been developed…
Modern smartphones have all the sensing capabilities required for accurate and robust navigation and tracking. In specific environments some data streams may be absent, less reliable, or flat out wrong. In particular, the GNSS signal can…
The interest in mobile platforms across a variety of applications has increased significantly in recent years. One of the reasons is the ability to achieve accurate navigation by using low-cost sensors. To this end, inertial sensors are…
The last decade's market has been characterized by wearable devices, mainly smartwatches, edge, and cloud computing. A possible application of these technologies is to improve the safety of dangerous activities, especially driving motor…
Frequency Modulated Continuous Wave (FMCW) radar is a promising sensor for aided inertial navigation, due to its robustness in environments that challenge traditional alternatives, such as LiDAR and vision. However, its widespread adoption…
Correcting gradual position drift is a challenge in long-term subsea navigation. Though highly accurate, modern inertial navigation system (INS) estimates will drift over time due to the accumulated effects of sensor noise and biases, even…
Unmanned vehicle navigation concerns estimating attitude, position, and linear velocity of the vehicle the six degrees of freedom (6 DoF). It has been known that the true navigation dynamics are highly nonlinear modeled on the Lie Group of…
Developments in atom interferometry have led to atomic inertial sensors with extremely high sensitivity. Their performances are for the moment limited by the ground vibrations, the impact of which is exacerbated by the sequential operation,…
This work demonstrates an airflow inertial based odometry system with multi-sensor data fusion, including thermal anemometer, IMU, ESC, and barometer. This goal is challenging because low-cost IMUs and barometers have significant bias, and…