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This paper presents research findings on handling faulty measurements (i.e., outliers) of global navigation satellite systems (GNSS) for vehicle localization under adverse signal conditions in field applications, where raw GNSS data are…
Sensors provide a vital source of data that link digital systems with the physical world. However, as sensors age, the relationship between what they measure and what they output changes. This is known as sensor drift and poses a…
This paper proposes a computationally efficient method to estimate the time-varying relative pose between two visual-inertial sensor rigs mounted on the flexible wings of a fixed-wing unmanned aerial vehicle (UAV). The estimated relative…
Secure navigation is pivotal for several applications including autonomous vehicles, robotics, and aviation. The inertial navigation system estimates position, velocity, and attitude through dead reckoning especially when external…
In the context of robotics, accurate ground truth positioning is essential for the development of Simultaneous Localization and Mapping (SLAM) and control algorithms. Robotic Total Stations (RTSs) provide accurate and precise reference…
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…
This paper introduces the concept of the Gaussian integral filter (GIF), the limit of the Gaussian sum filter (GSF) for when the number of mixands tends to infinity. The GIF is obtained via a combination of GSF, quadrature, and…
We seek to characterize the estimation performance of a sensor network where the individual sensors exhibit the phenomenon of drift, i.e., a gradual change of the bias. Though estimation in the presence of random errors has been extensively…
The possible applications and benefits of autonomous Unmanned Aerial Vehicle (UAV) use in urban areas are gaining considerable attention. Before these possibilities can be realized, it is essential that UAVs be able to navigate reliably and…
The MICROSCOPE space mission aims to test the Equivalence Principle with an accuracy of $10^{-15}$. The drag-free micro-satellite will orbit around the Earth and embark a differential electrostatic accelerometer including two cylindrical…
Diffusion with stochastic transport is investigated here when the random driving process is a very general Gaussian process, including Fractional Brownian motion. The purpose is the comparison with a deterministic PDE, which in certain…
Gyroscopes are inertial sensors that measure the angular velocity of the platforms to which they are attached. To estimate the gyroscope deterministic error terms prior mission start, a calibration procedure is performed. When considering…
The MICROSCOPE space mission aims at testing the Equivalence Principle (EP) with an accuracy of $10^{-15}$. The test is based on the precise measurement delivered by a differential electrostatic accelerometer on-board a drag-free…
A time-of-flight device was developed to characterize wavelength distribution and uniformity of a cold neutron beam. This device is very compact -- the distance of flight is $60$ cm -- but achieves very high resolution -- the intrinsic…
Precise, consistent, and reliable positioning is crucial for a multitude of uses. In order to achieve high precision global positioning services, multi-sensor fusion techniques, such as the Global Navigation Satellite System (GNSS)/Inertial…
Jamming devices disrupt signals from the global navigation satellite system (GNSS) and pose a significant threat by compromising the reliability of accurate positioning. Consequently, the detection and localization of these interference…
Quantifying frictional properties of interfaces remains a major challenge in both terrestrial and extraterrestrial geomechanics, where available samples, laboratory apparatuses, and geophysical observations are inherently limited. We…
Due to the inability to receive signals from the Global Navigation Satellite System (GNSS) in extreme conditions, achieving accurate and robust navigation for Unmanned Aerial Vehicles (UAVs) is a challenging task. Recently emerged,…
Discrete optimal transportation problems arise in various contexts in engineering, the sciences and the social sciences. Often the underlying cost criterion is unknown, or only partly known, and the observed optimal solutions are corrupted…
Modern navigation solutions are largely dependent on the performances of the standalone inertial sensors, especially at times when no external sources are available. During these outages, the inertial navigation solution is likely to…