Related papers: PilotEar: Enabling In-ear Inertial Navigation
In recent years, MEMS inertial sensors (3D accelerometers and 3D gyroscopes) have become widely available due to their small size and low cost. Inertial sensor measurements are obtained at high sampling rates and can be integrated to obtain…
With the rapid development of wearable technology, devices like smartphones, smartwatches, and headphones equipped with IMUs have become essential for applications such as pedestrian positioning. However, traditional pedestrian dead…
Inertial odometry (IO) directly estimates the position of a carrier from inertial sensor measurements and serves as a core technology for the widespread deployment of consumer grade localization systems. While existing IO methods can…
Inertial tracking is vital for robotic IoT and has gained popularity thanks to the ubiquity of low-cost inertial measurement units and deep learning-powered tracking algorithms. Existing works, however, have not fully utilized IMU…
We present a real-time monocular thermal-inertial odometry system designed for high-velocity, GPS-denied flight on embedded hardware. The system fuses measurements from a FLIR Boson+ 640 longwave infrared camera, a high-rate IMU, a laser…
Although Global Navigation Satellite Systems (GNSS) provide a general solution for bike tracking outdoors, there still exist complex riding environments where only inertial navigation systems work, such as urban canyons. Despite decades of…
Modern inertial measurements units (IMUs) are small, cheap, energy efficient, and widely employed in smart devices and mobile robots. Exploiting inertial data for accurate and reliable pedestrian navigation supports is a key component for…
We present the sensor setup and the basic navigation algorithm used for the flight control of the SkySails towing kite system. Starting with brief summaries on system setup and equations of motion of the tethered kite system, we…
Recent advances in glass fabrication technology have allowed for the development of high-precision inertial sensors in devices weighing in the order of grams. Gram-scale inertial sensors can be used in many applications with tight space or…
Inertial measurement unit (IMU) and odometer have been commonly-used sensors for autonomous land navigation in the global positioning system (GPS)-denied scenarios. This paper systematically proposes a versatile strategy for self-contained…
The common approach to inertial sensor calibration for navigation purposes has been to model the stochastic error signals of individual sensors independently, whether as components of a single inertial measurement unit (IMU) in different…
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 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…
We present a performance analysis of compact monolithic optomechanical inertial sensors that describes their key fundamental limits and overall acceleration noise floor. Performance simulations for low frequency gravity-sensitive inertial…
Inertial sensors provide crucial feedback for control systems to determine motional status and make timely, automated decisions. Prior efforts tried to control the output of inertial sensors with acoustic signals. However, their approaches…
We investigate the use of a point cloud measurement in terrain-aided navigation. Our goal is to aid an inertial navigation system, by exploring ways to generate a useful measurement innovation error for effective nonlinear state estimation.…
We introduce two iOS apps that have been designed to support wayfinding and backtracking for blind travelers navigating in indoor building environments. Wayfinding involves determining and following a route through the building's corridors…
Inertial Measurement Unit (IMU) has long been a dream for stable and reliable motion estimation, especially in indoor environments where GPS strength limits. In this paper, we propose a novel method for position and orientation estimation…
Traditional indoor robot navigation methods provide a reliable solution when adapted to constrained scenarios, but lack flexibility or require manual re-tuning when deployed in more complex settings. In contrast, learning-based approaches…
Low-cost inertial navigation sensors (INS) can be exploited for a reliable tracking solution for autonomous vehicles. However, position errors grow exponentially due to noises in the measurements. Several deep learning techniques have been…