Related papers: MAINS: A Magnetic Field Aided Inertial Navigation …
We propose an indoor navigation algorithm based on pedestrian dead reckoning (PDR) using an inertial measurement unit in a smartphone and map matching. The proposed indoor navigation system is user-friendly and convenient because it…
Electromagnetic Navigation Systems (eMNS) can be used to control a variety of multiscale devices within the human body for remote surgery. Accurate modeling of the magnetic fields generated by the electromagnets of an eMNS is crucial for…
Nano-machines circulating inside the human body, collecting data on tissue conditions, represent a vital part of next-generation medical diagnostic systems. However, for these devices to operate effectively, they need to relay not only…
Foot-mounted inertial sensors become popular in many indoor or GPS-denied applications, including but not limited to medical monitoring, gait analysis, soldier and first responder positioning. However, the foot-mounted inertial navigation…
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…
We showcase the practicability of an indoor positioning system (IPS) solely based on Neural Networks (NNs) and the channel state information (CSI) of a (Massive) multiple-input multiple-output (MIMO) communication system, i.e., only build…
The performance of inertial navigation systems is largely dependent on the stable flow of external measurements and information to guarantee continuous filter updates and bind the inertial solution drift. Platforms in different operational…
Recently, the emergence of 3D Gaussian Splatting (3DGS) has drawn significant attention in the area of 3D map reconstruction and visual SLAM. While extensive research has explored 3DGS for indoor trajectory tracking using visual sensor…
We present MINOS, a simulator designed to support the development of multisensory models for goal-directed navigation in complex indoor environments. The simulator leverages large datasets of complex 3D environments and supports flexible…
Indoor navigation is a foundational technology to assist the tracking and localization of humans, autonomous vehicles, drones, and robots in indoor spaces. Due to the lack of penetration of GPS signals in buildings, subterranean locales,…
In recent years, MEMS inertial sensors (3D accelerometers and 3D gyroscopes) have become widely available due to their small size and low cost. Inertial sensor measurements are obtained at high sampling rates and can be integrated to obtain…
Navigation in unknown, chaotic environments continues to present a significant challenge for the robotics community. Lighting changes, self-similar textures, motion blur, and moving objects are all considerable stumbling blocks for…
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…
Accurate vessel trajectory prediction is crucial for navigational safety, route optimization, traffic management, search and rescue operations, and autonomous navigation. Traditional data-driven models lack real-world physical constraints,…
This paper presents a novel approach for vehicle localization by leveraging the ambient magnetic field within a given environment. Our approach involves introducing a global mathematical function for magnetic field mapping, combined with…
In this letter, we present a robust, real-time, inertial navigation system (INS)-Centric GNSS-Visual-Inertial navigation system (IC-GVINS) for wheeled robot, in which the precise INS is fully utilized in both the state estimation and visual…
Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…
This paper presents InsSo3D, an accurate and efficient method for large-scale 3D Simultaneous Localisation and Mapping (SLAM) using a 3D Sonar and an Inertial Navigation System (INS). Unlike traditional sonar, which produces 2D images…
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…
Jamming devices disrupt signals from the global navigation satellite system (GNSS) and pose a significant threat by compromising the reliability of accurate positioning. Consequently, the detection and localization of these interference…