Related papers: Position fixing with cold atom gravity gradiometer…
We present two methods to achieve real-time inertial phase compensation in atom interferometers. Both methods, based on jumps of the position of the retroreflection mirror or frequencies of Raman lasers, demonstrate similar state-of-the-art…
A current-aided inertial navigation framework is proposed for small autonomous underwater vehicles in long-duration operations (> 1 hour), where neither frequent surfacing nor consistent bottom-tracking are available. We instantiate this…
This paper introduces a new approach to 3-D position estimation from acceleration data, i.e., a 3-D motion tracking system having a small size and low-cost magnetic and inertial measurement unit (MIMU) composed by both a digital compass and…
In this paper, we develop a position estimation system for Unmanned Aerial Vehicles formed by hardware and software. It is based on low-cost devices: GPS, commercial autopilot sensors and dense optical flow algorithm implemented in an…
A detailed analysis of the most relevant sources of phase noise in an atomic interferometer is carried out, both theoretically and experimentally. Even a short interrogation time of 100 ms allows our cold atom gravimeter to reach an…
This manuscript develops a simultaneous navigation and gravity estimation strategy around a small body. The scheme combines dynamical model compensation with a mascon gravity fit. Dynamical compensation adds the unmodeled acceleration to…
Visual and lidar Simultaneous Localization and Mapping (SLAM) algorithms benefit from the Inertial Measurement Unit (IMU) modality. The high-rate inertial data complement the other lower-rate modalities. Moreover, in the absence of constant…
Terrestrial long-baseline atom interferometer experiments are emerging as powerful tools for probing new fundamental physics, including searches for dark matter and gravitational waves. In the frequency range relevant to these signals,…
Atomic accelerometers and gravimeters are usually based on freely-falling atoms in atomic fountains, which not only limits their size, but also their robustness to environmental factors such as tilts, magnetic fields or vibrations. Such…
Accurate calibration of intrinsic (odometer scaling factors) and extrinsic parameters (IMU-odometer translation and rotation) is essential for autonomous ground vehicle localization. Existing GNSS-aided approaches often rely on positioning…
Recently, the configuration using atomic interferometers (AIs) had been suggested for the detection of gravitational waves. A new AI with some additional laser pulses for implementing large momentum transfer was also put forward, in order…
This paper concerns the estimation problem of attitude, position, and linear velocity of a rigid-body autonomously navigating with six degrees of freedom (6 DoF). The navigation dynamics are highly nonlinear and are modeled on the matrix…
Global Positioning System (GPS) navigation provides accurate positioning with global coverage, making it a reliable option in open areas with unobstructed sky views. However, signal degradation may occur in indoor spaces and urban canyons.…
Considered contribution to the phase of the atom interferometer caused by the gravity field of the massive proof mass. Demonstrated the method of finding the extrema of this contribution for 100kg Tungsten proof mass of the specific shape…
Ultracold atomic gases hold unique promise for space science by capitalizing on quantum advantages and extended freefall, afforded in a microgravity environment, to enable next-generation precision sensors. Atom interferometers are a class…
Recent advances in atom interferometry have led to the development of quantum inertial sensors with outstanding performance in terms of sensitivity, accuracy, and long-term stability. For ground-based implementations, these sensors are…
In this paper, we consider a position estimation problem for an unmanned aerial vehicle (UAV) equipped with both proprioceptive sensors, i.e. IMU, and exteroceptive sensors, i.e. GPS and a barometer. We propose a data-driven position…
In precision metrology the determination of the Newtonian gravity constant $G$ represents a real problem, since its history is plagued by huge unknown discrepancies between a large number of independent experiments. In this paper we propose…
We report an airborne gravity survey with an absolute gravimeter based on atom interferometry and two relative gravimeters: a classical LaCoste\&Romberg (L\&R) and a novel iMAR strap-down Inertial Measurement Unit (IMU). We estimated…
Matter-wave interferometers have fundamental applications for gravity experiments such as testing the equivalence principle and the quantum nature of gravity. In addition, matter-wave interferometers can be used as quantum sensors to…