Related papers: Position fixing with cold atom gravity gradiometer…
This paper describes a novel method for the estimation of the trajectory curve and orientation of a rigid body moving along a railway track. Compared to other recent developments in the literature, the presented approach has the significant…
This paper proposes a real-time approach for long-term inertial navigation based only on an Inertial Measurement Unit (IMU) for self-localizing wheeled robots. The approach builds upon two components: 1) a robust detector that uses…
We present a new scheme of compact atomic gravimeter based on atom interferometry. Atoms are maintained against gravity using a sequence of coherent accelerations performed by the Bloch oscillations technique. We demonstrate a sensitivity…
We present the first direct measurement of the gravity-field curvature based on three conjugated atom interferometers. Three atomic clouds launched in the vertical direction are simultaneously interrogated by the same atom interferometry…
We present two projects aiming to probe key aspects of the theory of General Relativity with high-precision quantum sensors. These projects use cold-atom interferometry with the aim of measuring gravitational waves and testing the…
Inertial sensors relying on atom interferometry offer a breakthrough advance in a variety of applications, such as inertial navigation, gravimetry or ground- and space-based tests of fundamental physics. These instruments require a quiet…
Atom interferometers deployed in space are excellent tools for high precision measurements, navigation, or Earth observation. In particular, differential interferometric setups feature common-mode noise suppression and enable reliable…
Aligning a robot's trajectory or map to the inertial frame is a critical capability that is often difficult to do accurately even though inertial measurement units (IMUs) can observe absolute roll and pitch with respect to gravity.…
Autonomous mobile robots are widely used for navigation, transportation, and inspection tasks indoors and outdoors. In practical situations of limited satellite signals or poor lighting conditions, navigation depends only on inertial…
The design of navigation observers able to simultaneously estimate the position, linear velocity and orientation of a vehicle in a three-dimensional space is crucial in many robotics and aerospace applications. This problem was mainly dealt…
In this paper, a novel method for vision-aided navigation based on trifocal tensor is presented. The main goal of the proposed method is to provide position estimation in GPS-denied environments for vehicles equipped with a standard…
Inertial navigation applications are usually referenced to a rotating frame. Consideration of the navigation reference frame rotation in the inertial navigation algorithm design is an important but so far less seriously treated issue,…
This paper presents an extension of the DRIFT invariant state estimation framework, enabling robust fusion of GPS and IMU data for accurate pose and heading estimation. Originally developed for testing and usage on a marine autonomous…
We propose and demonstrate a method for calibrating atomic trajectories in a large-area dual-atom-interferometer gyroscope. The atom trajectories are monitored by modulating and delaying the Raman transition, and they are precisely…
Global positioning systems can provide sufficient positioning accuracy for large scale robotic tasks in open environments. However, in underwater environments, these systems cannot be directly used, and measuring the position of underwater…
This paper investigates the estimation problem of the pose (orientation and position) and linear velocity of a rigid body, as well as the landmark positions, using an inertial measurement unit (IMU) and a monocular camera. First, we propose…
A dynamic gravimeter with an atomic interferometer (AI) can perform absolute gravity measurements with high precision. AI-based dynamic gravity measurement is a type of joint measurement that uses AI sensors and a classical accelerometer.…
This paper presents an adaptive learning method for data fusion in autonomous driving vehicles. The localization is based on the integration of Inertial Measurement Unit (IMU) with two Real-Time Kinematic (RTK) Global Positioning System…
We present a numerical method, based on a FEM simulation, for the determination of the gravitational field generated by massive objects, whatever geometry and space mass density they have. The method was applied for the determination of the…
In recent years, MEMS inertial sensors (3D accelerometers and 3D gyroscopes) have become widely available due to their small size and low cost. Inertial sensor measurements are obtained at high sampling rates and can be integrated to obtain…