Related papers: Analysis Method of Strapdown Inertial Navigation E…
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…
Inertial Navigation Systems (INS) are algorithms that fuse inertial measurements of angular velocity and specific acceleration with supplementary sensors including GNSS and magnetometers to estimate the position, velocity and attitude, or…
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…
Alignment of the strapdown inertial navigation system (INS) has strong nonlinearity, even worse when maneuvers, e.g., tumbling techniques, are employed to improve the alignment. There is no general rule to attack the observability of a…
Filter-based visual inertial navigation system (VINS) has attracted mobile-robot researchers for the good balance between accuracy and efficiency, but its limited mapping quality hampers long-term high-accuracy state estimation. To this…
A new class of disturbance covariance matrix estimators for radar signal processing applications is introduced following a geometric paradigm. Each estimator is associated with a given unitary invariant norm and performs the sample…
This paper proposes a unified mathematical framework for inertial measurement unit (IMU) preintegration in inertial-aided navigation system in different frames under different motion condition. The navigation state is precisely discretized…
In this paper, we study in-depth the problem of online self-calibration for robust and accurate visual-inertial state estimation. In particular, we first perform a complete observability analysis for visual-inertial navigation systems…
The core aspects and latest developments of Manoeuvre Intelligence for Space Safety (MISS), a new software tool for collision avoidance analysis and design, are presented. The tool leverages analytical and semi-analytical methods for the…
To improve the accuracy and robustness of the inertial navigation systems (INS) for wheeled robots without adding additional component cost, we propose Wheel-INS, a complete dead reckoning solution based on a wheel-mounted…
Global Navigation Satellite System/Inertial Navigation System (GNSS/INS)/Vision integration based on factor graph optimization (FGO) has recently attracted extensive attention in navigation and robotics community. Integrity monitoring (IM)…
In this paper, we propose a novel two-stage based uplink channel estimation strategy with reduced pilot overhead and error propagation for a reconfigurable intelligent surface (RIS)-aided multi-user (MU) millimeter wave (mmWave) system.…
Accuracy and computational efficiency are the most important metrics to Visual Inertial Navigation System (VINS). The existing VINS algorithms with either high accuracy or low computational complexity, are difficult to provide the high…
This paper proposes to use a newly-derived transformed inertial navigation system (INS) mechanization to fuse INS with other complementary navigation systems. Through formulating the attitude, velocity and position as one group state of…
Traditional land vehicle gravity measurement heavily rely on high-precision satellite navigation positioning information. However, the operational range of satellite navigation is limited, and it cannot maintain the required level of…
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…
Global Navigation Satellite Systems enable precise localization and timing even for highly mobile devices, but legacy implementations provide only limited support for the new generation of security-enhanced signals. Inertial Measurement…
Sliced inverse regression (SIR) is the most widely-used sufficient dimension reduction method due to its simplicity, generality and computational efficiency. However, when the distribution of the covariates deviates from the multivariate…
In indirect measurements, the measurand is determined by solving an inverse problem which requires a model of the measurement process. Such models are often approximations and introduce systematic errors leading to a bias of the posterior…
Importance Sampling (IS) is a method for approximating expectations under a target distribution using independent samples from a proposal distribution and the associated importance weights. In many applications, the target distribution is…