Related papers: Position fixing with cold atom gravity gradiometer…
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…
From serving a cup of coffee to positioning mechanical parts during assembly, stable object placement is a crucial skill for future robots. It becomes particularly challenging under geometric uncertainties, e.g., when the object pose or…
This article proposes a visual inertial navigation algorithm intended to diminish the horizontal position drift experienced by autonomous fixed wing UAVs (Unmanned Air Vehicles) in the absence of GNSS (Global Navigation Satellite System)…
We present a compact high-resolution gravity gradiometer based on dual Rb-85 atom interferometers using stimulated Raman transitions. A baseline L=44.5 cm and an interrogation time T=130 ms are realized in a sensor head with volume of less…
Recent progresses on quantum control of cold atoms and trapped ions in both the scientific and technological aspects greatly advance the applications in precision measurement. Thanks to the exceptional controllability and versatility of…
Existing navigation systems mostly consider "success" when the robot reaches within 1m radius to a goal. This precision is insufficient for emerging applications where the robot needs to be positioned precisely relative to an object for…
In GNSS-denied environments, aiding a vehicle's inertial navigation system (INS) is crucial to reducing the accumulated navigation drift caused by sensor errors (e.g. bias and noise). One potential solution is to use measurements of gravity…
Gravimeters are devices which measure changes in the value of the gravitational acceleration, \textit{g}. This information is used to infer changes in density under the ground allowing the detection of subsurface voids; mineral, oil and gas…
We present a local measurement of gravity combining Bloch oscillations and atom interferometry. With a falling distance of 0.8 mm, we achieve a sensitivity of 2x10-7 g with an integration time of 300 s. No bias associated with the Bloch…
This paper proposes a novel algorithm to determine the optimal placement of redundant inertial sensors such as accelerometers and gyroscopes (gyros) for increasing the sensing accuracy. In this paper, we have proposed a novel iterative…
Does gravity influence local measurements? We use a dual-species atom interferometer with $2\,\text{s}$ of free-fall time to measure the relative acceleration between $^{85}$Rb and $^{87}$Rb wave packets in the Earth's gravitational field.…
In the absence of an absolute positioning system, such as GPS, autonomous vehicles are subject to accumulation of positional error which can interfere with reliable performance. Improved navigational accuracy without GPS enables vehicles to…
We consider a recent scheme of gravitational wave detection using atomic interferometers as inertial sensors, and reinvestigate its configuration using the concept of sensitivity functions. We show that such configuration can suppress noise…
Atomic interferometry in optical lattices is a new trend of developing practical quantum gravimeter. Here, we propose a compact and portable gravimetry scheme with an ensemble of ultracold atoms in gravitationally tilted spin-dependent…
We discuss the design of quantum hybrid inertial sensor that combines an optomechanical inertial sensor with the retro-reflector of a cold atom interferometer. This sensor fusion approach provides absolute and high accuracy measurements…
Immersion and Invariance is a technique for the design of stabilizing and adaptive controllers and state observers for nonlinear systems. In all these applications the problem considered is the stabilization of equilibrium points. Motivated…
Unexpected accelerator modes were recently observed experimentally for cold cesium atoms when driven in the presence of gravity. A detailed theoretical explanation of this quantum effect is presented here. The theory makes use of invariance…
We provide an introduction into the field of atom optics and review our work on interferometry with cold atoms, and in particular with Bose-Einstein condensates. Here we emphasize applications of atom interferometry with sources of this…
This paper proposes a novel data-driven approach for inertial navigation, which learns to estimate trajectories of natural human motions just from an inertial measurement unit (IMU) in every smartphone. The key observation is that human…
Navigation of a mobile robot is conditioned on the knowledge of its pose. In observer-based localisation configurations its initial pose may not be knowable in advance, leading to the need of its estimation. Solutions to the problem of…