Related papers: Position fixing with cold atom gravity gradiometer…
This paper presents a novel online capable method for simultaneous estimation of human motion in terms of segment orientations and positions along with sensor-to-segment calibration parameters from inertial sensors attached to the body. In…
We present a detailed analysis of the usefulness of ultracold atomic collisions for sensing the strength of an external magnetic field as well as its spatial gradient. The core idea of the sensor, which we recently proposed in K. Jachymski…
We present a modular rack-mounted laser system for the cooling and manipulation of neutral rubidium atoms which has been developed for a portable gravimeter based on atom interferometry that will be capable of performing high precision…
Accurate and robust attitude estimation is a central challenge for autonomous vehicles operating in GNSS-denied or highly dynamic environments. In such cases, Inertial Measurement Units (IMUs) alone are insufficient for reliable tilt…
PointGoal navigation in indoor environment is a fundamental task for personal robots to navigate to a specified point. Recent studies solved this PointGoal navigation task with near-perfect success rate in photo-realistically simulated…
Magneto-inductive navigation is an inexpensive and easily deployable solution to many of today's navigation problems. By utilizing very low frequency magnetic fields, magneto-inductive technology circumvents the problems with attenuation…
Mobile gravimetry is important in metrology, navigation, geodesy, and geophysics. Atomic gravimeters could be among the most accurate mobile gravimeters, but are currently constrained by being complex and fragile. Here, we demonstrate a…
In this paper we consider a collection of relative pose problems which arise naturally in applications for visual indoor UAV navigation. We focus on cases where additional information from an onboard IMU is available and thus provides a…
Strapdown inertial navigation research involves the parameterization and computation of the attitude, velocity and position of a rigid body in a chosen reference frame. The community has long devoted to finding the most concise and…
Long-time atom interferometry is instrumental to various high-precision measurements of fundamental physical properties, including tests of the equivalence principle. Due to rotations and gravity gradients, the classical trajectories…
We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter. Without external aiding, inertial navigation solutions…
Attitude and heading reference systems (AHRS) play a central role in autonomous navigation systems on land, air and maritime platforms. AHRS utilize inertial sensor measurements to estimate platform orientation. In recent years, there has…
In spite of all the attempts conducted to improve the accuracy of the gravity wave detectors in recent years, no method has been successful to measure these waves up to now. Most of these detectors and laser interferometers work based on…
We report the operation of a cold-atom inertial sensor in a joint interrogation scheme, where we simultaneously prepare a cold-atom source and operate an atom interferometer in order to eliminate dead times. Noise aliasing and dead times…
This paper considers the problem of simultaneous estimation of the attitude, position and linear velocity for vehicles navigating in a three-dimensional space. We propose two types of hybrid nonlinear observers using continuous angular…
A new approach to the measurement of gravitational fields with an equilibrium ensemble of ultra-cold alkali atoms confined in a cell of volume $V$ is investigated. The proposed model of the gravitational sensor is based on a variation of…
A possibility of geophysical measurements using the large scale laser interferometrical gravitational wave antenna is discussed. An interferometer with suspended mirrors can be used as a gradiometer measuring variations of an angle between…
This paper proposes a novel method for geo-tracking, i.e. continuous metric self-localization in outdoor environments by registering a vehicle's sensor information with aerial imagery of an unseen target region. Geo-tracking methods offer…
It has been suggested that the next generation of interferometric gravitational wave detectors may observe spontaneously excited parametric oscillatory instabilities. We present a method of actively suppressing any such instability through…
Motivated by the goal of achieving robust, drift-free pose estimation in long-term autonomous navigation, in this work we propose a methodology to fuse global positional information with visual and inertial measurements in a tightly-coupled…