Related papers: A Unified Initial Alignment Method of SINS Based o…
This paper introduces a novel motion planner, incrementally stochastic and accelerated gradient information mixed optimization (iSAGO), for robotic manipulators in a narrow workspace. Primarily, we propose the overall scheme of iSAGO…
Index modulation (IM) significantly enhances the spectral efficiency of fluid antennas (FAs) enabled multiple-input multiple-output (MIMO) systems, which is named FA-IM. However, due to the dense distribution of ports on the FA, the…
Fluid antennas (FAs) and movable antennas (MAs) have emerged as promising technologies in wireless communications, which offer the flexibility to improve channel conditions by adjusting transmit/receive antenna positions within a spatial…
This paper proposes to use a newly-derived transformed inertial navigation system (INS) mechanization to fuse INS with other complementary navigation systems. Through formulating the attitude, velocity and position as one group state of…
One of the grand challenges in intensity-modulated radiotherapy (IMRT) planning is to optimize the beam angles in a reasonable computation time. To demonstrate the value of prior knowledge on improving the efficiency of beam angle…
Using actual flight data from a 50-cm-class microsatellite whose mission and operations have already been completed, this study re-evaluates satellite attitude determination performance and the error characteristics of onboard attitude…
We use reinforcement meta learning to optimize a line of sight curvature policy that increases the effectiveness of a guidance system against maneuvering targets. The policy is implemented as a recurrent neural network that maps navigation…
Accurate beam prediction is essential for mitigating signalling overhead and latency in integrated sensing and communication-enabled massive multi-input multi-output systems. With the aid of multimodal learning, the prediction accuracy can…
Inertial-based navigation refers to the navigation methods or systems that have inertial information or sensors as the core part and integrate a spectrum of other kinds of sensors for enhanced performance. Through a series of papers, the…
6-Degree of Freedom (6DoF) motion estimation with a combination of visual and inertial sensors is a growing area with numerous real-world applications. However, precise calibration of the time offset between these two sensor types is a…
Error distribution analysis is an important assistant technology for the research of SINS(Strapdown Inertial Navigation System). Error distribution result can provide the contribution of different errors to final navigation error, which is…
In Global Navigation Satellite System (GNSS)-degraded environments, pseudolites (PLs) provide additional signal sources to enhance positioning performance, but their integration in optimization-based frameworks remains limited. This paper…
In this paper, we consider uplink channel estimation for massive multi-input multi-output (MIMO) systems with partially connected hybrid beamforming (PC-HBF) structures. Existing beam design and channel estimation schemes are usually based…
Learning-enabled control systems increasingly rely on multiple sensing modalities (e.g., vision, audio, language, etc.) for perception and decision support. A key challenge is that multi-modal sensor training dynamics are often imbalanced:…
Inertia drift is a transitional maneuver between two sustained drift stages in opposite directions, which provides valuable insights for navigating consecutive sharp corners for autonomous racing.However, this can be a challenging scenario…
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…
Unlike loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw Global Navigation Satellite System (GNSS) measurements, a first attempt of this…
Bundle adjustment (BA) is a technique for refining sensor orientations of satellite images, while adjustment accuracy is correlated with feature matching results. Feature match-ing often contains high uncertainties in weak/repeat textures,…
Low-cost inertial navigation systems (INS) are prone to sensor biases and measurement noise, which lead to rapid degradation of navigation accuracy during global positioning system (GPS) outages. To address this challenge and improve…
Indoor tracking and pose estimation, i.e., determining the position and orientation of a moving target, are increasingly important due to their numerous applications. While Inertial Navigation Systems (INS) provide high update rates, their…