Related papers: A two-state Kalman estimator for atomic gravimetry
Kalman filtering is a classic state estimation technique used in application areas such as signal processing and autonomous control of vehicles. It is now being used to solve problems in computer systems such as controlling the voltage and…
In this paper, we explore an efficient online algorithm for quantum state estimation based on a matrix-exponentiated gradient method previously used in the context of machine learning. The state update is governed by a learning rate that…
This paper considers the problem of simultaneous estimation of the attitude, position and linear velocity for vehicles navigating in a three-dimensional space. We propose two types of hybrid nonlinear observers using continuous angular…
Continuous-time state estimation is gaining in popularity due to its abilities to provide smooth solutions, handle asynchronous sensors, and interpolate between data points. While there are two main paradigms, parametric (e.g., temporal…
Time-varying gravity field survey is one of the important methods for seismic risk assessment. To obtain accurate timevarying gravity data, it is essential to establish a gravity reference, which can be achieved using absolute gravimeters.…
Recent advances in cold atom interferometry have cleared the path for space applications of quantum inertial sensors, whose level of stability is expected to increase dramatically with the longer interrogation times accessible in space. In…
Interferometers based on ultra-cold atoms enable an absolute measurement of inertial forces with unprecedented precision. However, their resolution is fundamentally restricted by quantum fluctuations. Improved resolutions with entangled or…
In Einstein's general relativity (GR), gravity is described by a massless spin-2 metric field, and the extension of GR to include a mass term for the graviton has profound implication for gravitation and cosmology. Besides the gravity…
We focus on a series of $f(R)$ gravity theories in Palatini formalism to investigate the probabilities of producing the late-time acceleration for the flat Friedmann-Robertson-Walker (FRW) universe. We apply statefinder diagnostic to these…
This paper describes a novel method for the estimation of the trajectory curve and orientation of a rigid body moving along a railway track. Compared to other recent developments in the literature, the presented approach has the significant…
Recent advances in atom interferometry have led to the development of quantum inertial sensors with outstanding performance in terms of sensitivity, accuracy, and long-term stability. For ground-based implementations, these sensors are…
Long term observation of temporal Earth's gravity field with enhanced temporal and spatial resolution is a major objective for future satellite gravity missions. Improving the performance of the accelerometers present in such missions is…
Atoms from an otherwise unconfined 87Rb condensate are shown to be suspended against gravity using repeated reflections from a pulsed optical standing wave. Reflection efficiency was optimized using a triple-pulse sequence that,…
Attitude estimation for small, low-cost unmanned aerial vehicles is often achieved using a relatively simple complementary filter that combines onboard accelerometers, gyroscopes, and magnetometer sensing. This paper explores the limits of…
The success of the ensemble Kalman filter has triggered a strong interest in expanding its scope beyond classical state estimation problems. In this paper, we focus on continuous-time data assimilation where the model and measurement errors…
In the presence of Earth gravity and gravity-gradient forces, centrifugal and Coriolis forces caused by the Earth rotation, the phase of the time-domain atom interferometers is calculated with accuracy up to the terms proportional to the…
Accurate state estimation is crucial for legged robot locomotion, as it provides the necessary information to allow control and navigation. However, it is also challenging, especially in scenarios with uneven and slippery terrain. This…
This paper presents a state-estimation solution for legged robots that uses a set of low-cost, compact, and lightweight sensors to achieve low-drift pose and velocity estimation under challenging locomotion conditions. The key idea is to…
This short review is intended as a colloquium-level summary, for the Snowmass 2021 process, on recent theoretical results on infrared observables in quantum gravity. We rely on simple physical arguments, most notably a random walk…
Mobile gravimetry is important in metrology, navigation, geodesy, and geophysics. Atomic gravimeters could be among the most accurate mobile gravimeters, but are currently constrained by being complex and fragile. Here, we demonstrate a…