Related papers: Quantum diamond magnetometry for navigation in GNS…
Robust aiding of inertial navigation systems in GNSS-denied environments is critical for the removal of accumulated navigation error caused by the drift and bias inherent in inertial sensors. One way to perform such an aiding uses matching…
Modern navigation systems rely critically on GNSS, which in many cases is unavailable or unreliable (e.g. due to jamming or spoofing). For this reason there is great interest in augmenting backup navigation systems such as inertial…
In GNSS-denied environments, aiding a vehicle's inertial navigation system (INS) is crucial to reducing the accumulated navigation drift caused by sensor errors (e.g. bias and noise). One potential solution is to use measurements of gravity…
Nitrogen-vacancy quantum defects in diamond offer a promising platform for magnetometry because of their remarkable optical and spin properties. In this Letter, we present a high-sensitivity and wide-bandwidth fiber-based quantum…
Modern navigation systems rely heavily on Global Navigation Satellite Systems (GNSS), whose weak spaceborne signals are vulnerable to jamming, spoofing, and line-of-sight blockage. As an alternative, the Earth's magnetic field entails…
Harnessing the potential of quantum sensors to assist in navigation requires enabling their operation in complex, dynamic environments and integrating them within existing navigation systems. While cross-couplings from platform dynamics…
Navigating and localizing in partially observable, stochastic environments with magnetic anomalies presents significant challenges, especially when balancing the accuracy of state estimation and the stability of localization. Traditional…
Remanent magnetization in geological samples may record the past intensity and direction of planetary magnetic fields. Traditionally, this magnetization is analyzed through measurements of the net magnetic moment of bulk millimeter to…
Localization in GPS-denied environments is critical for autonomous systems, and traditional methods like SLAM have limitations in generalizability across diverse environments. Magnetic-based navigation (MagNav) offers a robust solution by…
A Magnetic field Aided Inertial Navigation System (MAINS) for indoor navigation is proposed in this paper. MAINS leverages an array of magnetometers to measure spatial variations in the magnetic field, which are then used to estimate the…
In this work we present a practical algorithm for calibrating a magnetometer for the presence of magnetic disturbances and for magnetometer sensor errors. To allow for combining the magnetometer measurements with inertial measurements for…
Magnetometer and inertial sensors are widely used for orientation estimation. Magnetometer usage is often troublesome, as it is prone to be interfered by onboard or ambient magnetic disturbance. The onboard soft-iron material distorts not…
For reliable operation on urban roads, navigation using the Global Navigation Satellite System (GNSS) requires both accurately estimating the positioning detail from GNSS pseudorange measurements and determining when the estimated position…
Indoor localisation techniques suffer from attenuated Global Navigation Satellite System (GNSS) signals and from the accumulation of unbounded drift by integration of proprioceptive sensors. Magnetic field-based Simultaneous Localisation…
In the absence of an absolute positioning system, such as GPS, autonomous vehicles are subject to accumulation of positional error which can interfere with reliable performance. Improved navigational accuracy without GPS enables vehicles to…
Quantum metrology makes use of coherent superpositions to detect weak signals. While in principle the sensitivity can be improved by increasing the density of sensing particles, in practice this improvement is severely hindered by…
Magnetometer is a significant sensor for integrated navigation. However, it suffers from many kinds of unknown dynamic magnetic disturbances. We study the problem of online estimating such disturbances via a nonlinear optimization aided by…
Although quantum channels underlie the dynamics of quantum states, maps which are not physical channels -- that is, not completely positive -- can often be encountered in settings such as entanglement detection, non-Markovian quantum…
Location information is critical to a wide-variety of navigation and tracking applications. Today, GPS is the de-facto outdoor localization system but has been shown to be vulnerable to signal spoofing attacks. Inertial Navigation Systems…
Remote magnetic sensing can be used to monitor the position of objects in real-time, enabling ground transport monitoring, underground infrastructure mapping and hazardous detection. However, magnetic signals are typically weak and complex,…