Related papers: A Unified Initial Alignment Method of SINS Based o…
To obtain a high-accuracy position with SINS(Strapdown Inertial Navigation System), initial alignment needs to determine initial attitude rapidly and accurately. High-accuracy grade IMU(Inertial Measurement Uint) can obtain the initial…
In this paper, the optimization-based alignment (OBA) methods are investigated with main focus on the vector observations construction procedures for the strapdown inertial navigation system (SINS). The contributions of this study are…
The task of strapdown inertial navigation system (SINS) initial alignment is to calculate the attitude transformation matrix from body frame to navigation frame. In this paper, such attitude transformation matrix is divided into two parts…
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)…
Initial alignment is one of the key technologies in strapdown inertial navigation system (SINS) to provide initial state information for vehicle attitude and navigation. For some situations, such as the attitude heading reference system,…
Integration of inertial navigation system (INS) and global navigation satellite system (GNSS) is usually implemented in engineering applications by way of Kalman-like filtering. This form of INS/GNSS integration is prone to attitude…
This paper proposes a low-cost six Degree-of-Freedom (6-DOF) navigation system for small aerial robots based on the integration of Global Position System (GPS) receiver with sensors of inertional Microelectromechanical Systems (MEMS). In…
Multi-sensor fusion is an effective way to enhance the positioning performance of autonomous underwater vehicles (AUVs). However, underwater multi-sensor fusion faces challenges such as heterogeneous frequency and dynamic availability of…
In this paper, a new measurement system based on integration method is presented,which can provide all-weather dependability and higher precision for the measurement of FAST's feed support system. The measurement system consists of three…
Inertial measurement unit (IMU) preintegration is widely used in factor graph optimization (FGO); e.g., in visual-inertial navigation system and global navigation satellite system/inertial navigation system (GNSS/INS) integration. However,…
This paper describes the algorithm and examines the performance of an IMRT beam-angle optimization (BAO) system. In this algorithm successive sets of beam angles are selected from a set of predefined directions using a fast simulated…
We propose an attitude and gyro-bias estimation scheme for accelerated rigid body systems using an inertial measurement unit (IMU) and a global positioning system (GPS). The proposed scheme allows to obtain attitude estimates directly on…
Autonomous platforms operating in the oceans require accurate navigation to successfully complete their mission. In this regard, the initial heading estimation accuracy and the time required to achieve it play a critical role. The initial…
In this note, the attitude and inertial sensors drift biases estimation for Strapdown inertial navigation system is investigated. A semi-analytic method is proposed, which contains two interlaced solution procedures. Specifically, the…
The defects of the traditional strapdown inertial navigation algorithms become well acknowledged and the corresponding enhanced algorithms have been quite recently proposed trying to mitigate both theoretical and algorithmic defects. In…
The in-flight alignment is a critical stage for airborne INS/GPS applications. The alignment task is usually carried out by the Kalman filtering technique that necessitates a good initial attitude to obtain satisfying performance. Due to…
Realizing high-throughput aberration-corrected Scanning Transmission Electron Microscopy (STEM) exploration of atomic structures requires rapid tuning of multipole probe correctors while compensating for the inevitable drift of the optical…
Fluid antenna system (FAS) leverages dynamic reconfigurability to unlock spatial degrees of freedom and reshape wireless channels. Blind interference alignment (BIA) aligns interference through antenna switching. This paper proposes, for…
Strapdown inertial navigation systems (SINS) are ubiquitious in robotics and engineering since they can estimate a rigid body pose using onboard kinematic measurements without knowledge of the dynamics of the vehicle to which they are…
This paper presents a novel constrained Factor Graph Optimization (FGO)-based approach for networked inertial navigation in pedestrian localization. To effectively mitigate the drift inherent in inertial navigation solutions, we incorporate…