Related papers: One-Shot Initial Orbit Determination in Low-Earth …
This paper presents a generic motion model to capture mobile robots' dynamic behaviors (translation and rotation). The model is based on statistical models driven by white random processes and is formulated into a full state estimation…
Here we revisit an initial orbit determination method introduced by O. F. Mossotti employing four geocentric sky-plane observations and a linear equation to compute the angular momentum of the observed body. We then extend the method to…
With the recent advance of deep learning based object recognition and estimation, it is possible to consider object level SLAM where the pose of each object is estimated in the SLAM process. In this paper, based on a novel Lie group…
We demonstrate optimal state estimation for a cavity optomechanical system through Kalman filtering. By taking into account nontrivial experimental noise sources, such as colored laser noise and spurious mechanical modes, we implement a…
Accurate state estimation from heavily quantized measurements is a key challenge in resource-constrained Internet of Things (IoT) sensing and tracking, where battery-powered devices may employ low-resolution analog-to-digital converters…
Accurate estimation of thermosphere mass density is critical to determining how satellite orbits evolve over time and thus to planning and managing space missions. Empirical thermosphere models are commonly employed for this purpose, but…
In various applications of land vehicle navigation and automatic guidance systems, Global Navigation Satellite System/Inertial Measurement Unit (GNSS/IMU) positioning performance crucially depends on the attitude determination accuracy…
In this paper, a novel image moments based model for shape estimation and tracking of an object moving with a complex trajectory is presented. The camera is assumed to be stationary looking at a moving object. Point features inside the…
In celestial mechanics, proper orbits related to missions are obtained by solving two-point boundary value problems. Since a selection method of initial value affects the convergence of the solution, developing an effective method to find…
In this paper, we focus on sensor placement in linear dynamic estimation, where the objective is to place a small number of sensors in a system of interdependent states so to design an estimator with a desired estimation performance. In…
We provide an analytical approximation to the dynamics in each of the three most important low order secondary resonances (1:1, 2:1, and 3:1) bifurcating from the synchronous primary resonance in the gravitational spin-orbit problem. To…
We consider the downlink transmission in a single cell multiple-input multiple-output system, in which the user equipment correspond to a vehicle moving along a given trajectory. This system utilizes millimeter wave channels characterized…
One-shot pose estimation for tasks such as body joint localization, camera pose estimation, and object tracking are generally noisy, and temporal filters have been extensively used for regularization. One of the most widely-used methods is…
Automated 3D pose estimation of satellites and other known space objects is a critical component of space situational awareness. Ground-based imagery offers a convenient data source for satellite characterization; however, analysis…
The fusion of camera sensor and inertial data is a leading method for ego-motion tracking in autonomous and smart devices. State estimation techniques that rely on non-linear filtering are a strong paradigm for solving the associated…
State estimation for legged robots is challenging due to their highly dynamic motion and limitations imposed by sensor accuracy. By integrating Kalman filtering, optimization, and learning-based modalities, we propose a hybrid solution that…
This paper describes the synthesis and evaluation of a novel state estimator for a Quadrotor Micro Aerial Vehicle. Dynamic equations which relate acceleration, attitude and the aero-dynamic propeller drag are encapsulated in an extended…
A low-cost measurement system using filtering of measurements for two-wheeled balancing robot stabilisation purposes has been addressed in this paper. In particular, a measurement system based on gyroscope, accelerometer, and encoder has…
Autonomous orbit determination via integration of epoch-differenced gravity gradients and starlight refraction is proposed in this paper for low-Earth-orbiting satellites operating in GPS-denied environments. The starlight refrac-tion can…
Formation-flying studies to date have required continuous and minute corrections of the orbital elements and attitudes of the spacecraft.This increases the complexity, and associated risk, of controlling the formation, which often makes…