Related papers: A two-state Kalman estimator for atomic gravimetry
This extended abstract introduces a novel method for continuous state estimation of continuum robots. We formulate the estimation problem as a factor-graph optimization problem using a novel Gaussian-process prior that is parameterized over…
State estimation is crucial for legged robots as it directly affects control performance and locomotion stability. In this paper, we propose an Adaptive Invariant Extended Kalman Filter to improve proprioceptive state estimation for legged…
This paper introduces a new invariant extended Kalman filter design that produces real-time state estimates and rapid error convergence for the estimation of the human body movement even in the presence of sensor misalignment and initial…
We revisit the topic of two-state quantum systems using Geometric Algebra (GA) in three dimensions $\mathcal G_3$. In this description, both the quantum states and Hermitian operators are written as elements of $\mathcal G_3$. By writing…
This paper presents an integrated model-learning predictive control scheme for spacecraft orbit-attitude station-keeping in the vicinity of asteroids. The orbiting probe relies on optical and laser navigation while attitude measurements are…
In the past, the gravitational acceleration on the surface of the Earth, $g$, has been measured in many ways. Various methods include the use of a pendulum as well as models involving the use of a mass on a spring. We have designed a new…
Dynamic atom gravimeters enable absolute gravity measurements on moving platforms. However, their performance is severely degraded due to the complex dynamic environment. This paper finds that the amplitude modulation noise (AMN) is a key…
We study quantum gravimetry when the interrogation time carries intrinsic uncertainty, motivated by a fundamental limit on temporal resolution associated with the energy--time uncertainty relation. For linearly gravity-coupled gravimeters,…
This paper presents an adaptive Kalman filter for a linear dynamic system perturbed by an additive disturbance. The objective is to estimate both of the state and the unknown disturbance concurrently, while learning the disturbance as a…
We consider two nonlinear state estimation problems in a setting where an extended Kalman filter receives measurements from two sets of sensors via two channels (2C). In the stochastic-2C problem, the channels drop measurements…
An analytical expression for the gravitational field of a homogeneous cylinder is derived. The phase of the atom interferometer produced by the gravity field of the set of cylinders has been calculated. The optimal values of the initial…
A recursive state estimation procedure is derived for a linear time varying system with both parametric uncertainties and stochastic measurement droppings. This estimator has a similar form as that of the Kalman filter with intermittent…
Despite being the dominant force of nature on large scales, gravity remains relatively elusive to experimental measurement. Many questions remain, such as its behavior at small scales or its role in phenomena ascribed to dark matter and…
We present a table-top quantum estimation protocol to measure the gravitational acceleration $g$ by using an optomechanical cavity. In particular, we exploit the non-linear quantum light-matter interaction between an optical field and a…
We focus on the fact that light-pulse atom interferometers measure the atoms' acceleration with only three data points per drop. As a result, the measured effect of the gravity gradient is systematically larger than the true one, an error…
The precise measurement of the gravity of the earth plays a pivotal role in various fundamental research and application fields. Although a few gravimeters have been reported to achieve this goal, miniaturization of high-precision…
Ultra-cold atoms in optical lattices provide one of the most promising platforms for analog quantum simulations of complex quantum many-body systems. Large-size systems can now routinely be reached and are already used to probe a large…
Estimation of rigid body attitude motion is a long-standing problem of interest in several applications. This problem is challenging primarily because rigid body motion is described by nonlinear dynamics and the state space is nonlinear.…
The increasing precision of cosmological data provides us with an opportunity to test general relativity (GR) on the largest accessible scales. Parameterizing modified gravity models facilitates the systematic testing of the predictions of…
We investigate a new experimental possibility of measuring the Newtonian gravitational constant $G$ by using the weak measurement. Amplification via weak measurement is one of the interesting phenomena of quantum mechanics. In this letter,…