Related papers: Inertial Navigation Using an Inertial Sensor Array
In this work, we propose a new learning approach for autonomous navigation and landing of an Unmanned-Aerial-Vehicle (UAV). We develop a multimodal fusion of deep neural architectures for visual-inertial odometry. We train the model in an…
The acquisition of attitude, velocity, and position is an essential task in the field of inertial navigation, achieved by integrating the measurements from inertial sensors. Recently, the ultra-precision inertial navigation computation has…
Inertial sensors are widely used in a variety of applications. A common task is orientation estimation. To tackle such a task, attitude and heading reference system algorithms are applied. Relying on the gyroscope readings, the…
Cold-atom inertial sensors target several applications in navigation, geoscience and tests of fundamental physics. Reaching high sampling rates and high inertial sensitivities, obtained with long interrogation times, represents a challenge…
A framework for tightly integrated motion mode classification and state estimation in motion-constrained inertial navigation systems is presented. The framework uses a jump Markov model to describe the navigation system's motion mode and…
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…
This paper addresses the issues of unmanned aerial vehicle (UAV) indoor navigation, specifically in areas where GPS and magnetometer sensor measurements are unavailable or unreliable. The proposed solution is to use an error state extended…
When robots operate in unknown environments small errors in postions can lead to large variations in the contact forces, especially with typical high-impedance designs. This can potentially damage the surroundings and/or the robot. Series…
Foot-mounted inertial sensors become popular in many indoor or GPS-denied applications, including but not limited to medical monitoring, gait analysis, soldier and first responder positioning. However, the foot-mounted inertial navigation…
This paper proposes new algorithms for attitude estimation and control based on fused inertial vector measurements using linear complementary filters principle. First, n-order direct and passive complementary filters combined with TRIAD…
We present a method for estimating ego-velocity in autonomous navigation by integrating high-resolution imaging radar with an inertial measurement unit. The proposed approach addresses the limitations of traditional radar-based ego-motion…
Strapdown inertial navigation systems (SINS) are ubiquitious in robotics and engineering since they can estimate a rigid body pose using onboard kinematic measurements without knowledge of the dynamics of the vehicle to which they are…
This paper develops an underwater navigation solution that utilizes a strapdown inertial navigation system (SINS) and fuses a set of auxiliary sensors such as an acoustic positioning system, Doppler velocity log, depth meter, attitude…
This paper presents an inertial sensor aided technique for beam alignment and tracking in massive multiple-input multiple-output (MIMO) vehicle-to-vehicle (V2V) communications based on millimeter waves (mmWave). Since directional…
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.…
In this work, we demonstrate continuous-time radar-inertial and lidar-inertial odometry using a Gaussian process motion prior. Using a sparse prior, we demonstrate improved computational complexity during preintegration and interpolation.…
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 motion tracking of connected multi-body systems Inertial Measurement Units (IMUs) are used in a wide variety of applications, since they provide a low-cost easy-to-use method for orientation estimation. However, in indoor environments or…
The techniques of laser cooling combined with atom interferometry make possible the realization of very sensitive and accurate inertial sensors like gyroscopes or accelerometers. Besides earth-based developments, the use of these techniques…
High-precision inertial sensing and gravity sensing are key in navigation, oil exploration, and earthquake prediction. In contrast to prior accelerometers using piezoelectric or electronic capacitance readout techniques, optical readout…