Related papers: A GNSS Aided Initial Alignment Method for MEMS-IMU…
Inertial odometry (IO) using strap-down inertial measurement units (IMUs) is critical in many robotic applications where precise orientation and position tracking are essential. Prior kinematic motion model-based IO methods often use a…
This work introduces the Spacecraft Pose Network (SPN) for on-board estimation of the pose, i.e., the relative position and attitude, of a known non-cooperative spacecraft using monocular vision. In contrast to other state-of-the-art pose…
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…
The inconsistency issue in the Visual-Inertial Navigation System (VINS) is a long-standing and fundamental challenge. While existing studies primarily attribute the inconsistency to observability mismatch, these analyses are often based on…
Due to the declining birthrate and aging population, the shortage of labor in the construction industry has become a serious problem, and increasing attention has been paid to automation of construction equipment. We focus on the automatic…
As cameras and inertial sensors are becoming ubiquitous in mobile devices and robots, it holds great potential to design visual-inertial navigation systems (VINS) for efficient versatile 3D motion tracking which utilize any (multiple)…
Reliable spacecraft attitude control depends on accurate prediction of attitude dynamics, particularly when model-based strategies such as Model Predictive Control (MPC) are employed, where performance is limited by the quality of the…
Employing an inertial measurement unit (IMU) as an additional sensor can dramatically improve both reliability and accuracy of visual/Lidar odometry (VO/LO). Different IMU integration models are introduced using different assumptions on the…
In this paper, we investigate how Joint Communication And Sensing (JCAS) can be used to improve the Inertial Measurement Unit (IMU)- based tracking accuracy of eXtended Reality (XR) Head-Mounted Displays (HMDs). Such tracking is used when…
In underwater navigation systems, strap-down inertial navigation system/Doppler velocity log (SINS/DVL)-based loosely coupled architectures are widely adopted. Conventional approaches project DVL velocities from the body coordinate system…
In order to make a pinpoint landing on the Moon, the spacecraft's navigation system must be accurate. To achieve the desired accuracy, navigational drift caused by the inertial sensors must be corrected. One way to correct this drift is to…
Accurate positioning, navigation, and timing (PNT) is fundamental to the operation of modern technologies and a key enabler of autonomous systems. A very important component of PNT is the Global Navigation Satellite System (GNSS) which…
High resolution compressive channel estimation provides information for vehicle localization when a hybrid mmWave MIMO system is considered. Complexity and memory requirements can, however, become a bottleneck when high accuracy…
Reliable vehicle navigation in urban environments remains a challenging problem due to frequent satellite signal blockages caused by tall buildings and complex infrastructure. While fusing inertial reading with satellite positioning in an…
In this paper we propose a novel accurate method for dead-reckoning of wheeled vehicles based only on an Inertial Measurement Unit (IMU). In the context of intelligent vehicles, robust and accurate dead-reckoning based on the IMU may prove…
Precise geolocalization is crucial for unmanned aerial vehicles (UAVs). However, most current deployed UAVs rely on the global navigation satellite systems (GNSS) or high precision inertial navigation systems (INS) for geolocalization. In…
Autonomous underwater vehicles rely on precise navigation systems that combine the inertial navigation system and the Doppler velocity log for successful missions in challenging environments where satellite navigation is unavailable. The…
High-precision vehicle positioning is key to the implementation of modern driving systems in urban environments. Global Navigation Satellite System (GNSS) carrier phase measurements can provide millimeter- to centimeter-level positioning,…
The monocular visual-inertial system (VINS), which consists one camera and one low-cost inertial measurement unit (IMU), is a popular approach to achieve accurate 6-DOF state estimation. However, such locally accurate visual-inertial…
High-precision navigation and positioning systems are critical for applications in autonomous vehicles and mobile mapping, where robust and continuous localization is essential. To test and enhance the performance of algorithms, some…