Related papers: Full Magnetometer and Gyroscope Bias Estimation us…
This study focuses on the critical aspect of robust state estimation for the safe navigation of an Autonomous Vehicle (AV). Existing literature primarily employs two prevalent techniques for state estimation, namely filtering-based and…
Phased-array Bluetooth systems have emerged as a low-cost alternative for performing aided inertial navigation in GNSS-denied use cases such as warehouse logistics, drone landings, and autonomous docking. Basing a navigation system off of…
We propose a novel paradigm to vector magnetometry based on machine learning. Unlike conventional schemes where one measured signal explicitly connects to one parameter, here we encode the three-dimensional magnetic-field information in the…
Accurate and scalable underwater multi-agent localization remains a critical challenge due to the constraints of underwater communication. In this work, we propose a multi-agent localization framework using a factor-graph representation…
While Wi-Fi positioning is still more common indoors, using magnetic field features has become widely known and utilized as an alternative or supporting source of information. Magnetometer bias presents significant challenge in magnetic…
This paper proposes a novel method called MagShield, designed to address the issue of magnetic interference in sparse inertial motion capture (MoCap) systems. Existing Inertial Measurement Unit (IMU) systems are prone to orientation…
The problem of bias, meaning over- or underestimation, of the component perpendicular to the line-of-sight, Bperp, in vector magnetic field maps is discussed. Previous works on this topic have illustrated that the problem exists; here we…
Legged robots, specifically quadrupeds, are becoming increasingly attractive for industrial applications such as inspection. However, to leave the laboratory and to become useful to an end user requires reliability in harsh conditions. From…
The three axis magnetic field measurement based on the interaction of a single elliptically polarized light beam with an atomic system is described. The magnetic field direction dependent atomic responses are extracted by the polarimetric…
We demonstrate identification of position, material, orientation and shape of objects imaged by an $^{85}$Rb atomic magnetometer performing electromagnetic induction imaging supported by machine learning. Machine learning maximizes the…
Inverse dynamic analysis using musculoskeletal modeling is a powerful tool, which is utilized in a range of applications to estimate forces in ligaments, muscles, and joints, non-invasively. To date, the conventional input used in this…
The robust estimation of the mounting angle for millimeter-wave automotive radars installed on moving vehicles is investigated. We propose a novel signal processing pipeline that combines radar and inertial measurement unit (IMU) data to…
This paper proposes a low-cost six Degree-of-Freedom (6-DOF) navigation system for small aerial robots based on the integration of Global Position System (GPS) receiver with sensors of inertional Microelectromechanical Systems (MEMS). In…
Magneto-inductive navigation is an inexpensive and easily deployable solution to many of today's navigation problems. By utilizing very low frequency magnetic fields, magneto-inductive technology circumvents the problems with attenuation…
We present here a new parametric resonance magnetometer scheme based on elliptically polarized pumping light and two radio-frequency fields applied along the two optical pumping directions. At optimum ellipticity and radio-frequency fields…
Atom interferometery is an exquisite measurement technique sensitive to inertial forces. However, it is commonly limited to a single sensitive axis, allowing high-precision multi-dimensional sensing only through subsequent or post-corrected…
Inertial sensors stimulate very large interest, not only for their application but also for fundamental physics tests. Ring laser gyros, which measure angular rotation rate, are certainly among the most sensitive inertial sensors, with…
Magnetometry is a powerful technique for the non-invasive study of biological and physical systems. A key challenge lies in the simultaneous optimization of magnetic field sensitivity and maximum field range. In interferometry-based…
Microelectromechanical systems (MEMS) gyroscopes are widely used, e.g. in modern automotive and consumer applications, and require signal stability and accuracy in rather harsh environmental conditions. In many use cases, device reliability…
Rotation speed is a key metric for many applications, such as calibrating electric motors in a factory, monitoring a car's engine health, detecting faults in electrical appliances, and more. However, existing measurement techniques have…