Related papers: Towards Learning-Based Gyrocompassing
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…
This paper improves visual-inertial systems to boost the localization accuracy for low-cost rescue robots. When robots traverse on rugged terrain, the performance of pose estimation suffers from big noise on the measurements of the inertial…
In current navigating platforms, the user's orientation is typically estimated based on the difference between two consecutive locations. In other words, the orientation cannot be identified until the second location is taken. This…
The promising coverage and spectral efficiency gains of intelligent reflecting surfaces (IRSs) are attracting increasing interest. In order to realize these surfaces in practice, however, several challenges need to be addressed. One of…
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…
Autonomous navigation based on precise localization has been widely developed in both academic research and practical applications. The high demand for localization accuracy has been essential for safe robot planing and navigation while it…
Accurate post-processing navigation is essential for applications such as survey and mapping, where the full measurement history can be exploited to refine past state estimates. Fixed-interval smoothing algorithms represent the…
The detection of gravitational waves has inaugurated the era of gravitational astronomy and opened new avenues for the multimessenger study of cosmic sources. Thanks to their sensitivity, the Advanced LIGO and Advanced Virgo interferometers…
Deep learning models are essential for scene classification, change detection, land cover segmentation, and other remote sensing image understanding tasks. Most backbones of existing remote sensing deep learning models are typically…
This article proposes a visual inertial navigation algorithm intended to diminish the horizontal position drift experienced by autonomous fixed wing UAVs (Unmanned Air Vehicles) in the absence of GNSS (Global Navigation Satellite System)…
We present a novel algorithm for online, real-time orientation estimation. Our algorithm integrates gyroscope data and corrects the resulting orientation estimate for integration drift using accelerometer and magnetometer data. This…
Equipping active colloidal robots with intelligence such that they can efficiently navigate in unknown complex environments could dramatically impact their use in emerging applications like precision surgery and targeted drug delivery. Here…
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…
This paper presents a deep learning-based framework for enhancing radar systems in the presence of interference, leveraging Reconfigurable Intelligent Surfaces (RIS). The proposed technique uses a modified MUSIC algorithm to estimate the…
Global Navigation Satellite Systems enable precise localization and timing even for highly mobile devices, but legacy implementations provide only limited support for the new generation of security-enhanced signals. Inertial Measurement…
In this paper, we investigate a design approach of reinforcement learning to engineer a gyroscope in an optical lattice for the inertial sensing of rotations. Our methodology is not based on traditional atom interferometry, that is,…
Many multi-sensor navigation systems urgently demand accurate positioning initialization from global navigation satellite systems (GNSSs) in challenging static scenarios. However, ground blockages against line-of-sight (LOS) signal…
Reconfigurable intelligent surfaces (RISs) are envisioned as a key enabler for next-generation wireless networks, offering programmable control over propagation environments. While extensive research focuses on planar RIS architectures,…
Global navigation satellite systems (GNSS) face significant challenges in urban and sub-urban areas due to non-line-of-sight (NLOS) propagation, multipath effects, and low received power levels, resulting in highly non-linear and…
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…