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When estimating the eigenvalues of a given observable, even fault-tolerant quantum computers will be subject to errors, namely algorithmic errors. These stem from approximations in the algorithms implementing the unitary passed to phase…
This paper introduces a generic filter-based state estimation framework that supports two state-decoupling strategies based on cross-covariance factorization. These strategies reduce the computational complexity and inherently support true…
This paper presents a novel end-to-end deep learning framework for real-time inertial attitude estimation using 6DoF IMU measurements. Inertial Measurement Units are widely used in various applications, including engineering and medical…
Increasing the laser power is essential to improve the sensitivity of interferometric gravitational wave detectors. However, optomechanical parametric instabilities can set a limit to that power. It is of major importance to understand and…
Motivated by drone autonomous navigation applications we address a novel problem of velocity-aided attitude estimation by combining two linear velocity components measured in a body-fixed frame and a linear velocity component measured in an…
The purpose of this work is the design and analysis of a reliable and efficient a posteriori error estimator for the so-called pointwise tracking optimal control problem. This linear-quadratic optimal control problem entails the…
One of the main residual limitations of inertial sensors based on atom interferometry stems from laser beam distortions, which cause parasitic phase shifts and non-homogeneous matter-light couplings. Here we present numerical simulations,…
The performance of inertial navigation systems is largely dependent on the stable flow of external measurements and information to guarantee continuous filter updates and bind the inertial solution drift. Platforms in different operational…
The alternating direction method of multipliers (ADMM) is one of the most widely used first-order optimisation methods in the literature owing to its simplicity, flexibility and efficiency. Over the years, numerous efforts are made to…
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 effect of the angular momentum density of a gravitational source on the times of flight of light rays in an interferometer is analyzed. The calculation is made imagining that the interferometer is at the equator of the gravity source…
We address the quantum estimation of parameters encoded into the initial state of two modes of a Dirac field described by relatively accelerated parties. By using the quantum Fisher information (QFI), we investigate how the weak…
We construct a smooth trajectory in Minkowski spacetime that is inertial in the asymptotic past and future but undergoes approximately uniform acceleration for a finite duration. In a suitable limit, this trajectory reduces to the standard…
The problem of estimating an unknown force driving a linear oscillator is revisited. When using linear measurement, feedback is often cited as a mechanism to enhance bandwidth or sensitivity. We show that as long as the oscillator dynamics…
Monocular visual-inertial odometry (VIO) cannot recover metric scale from vision alone; scale must be resolved through inertial measurements. We present a trajectory-dependent observability analysis showing that translational acceleration,…
For additive actuator and sensor faults, we propose a systematic method to design a state-space fault estimation filter directly from Markov parameters identified from fault-free data. We address this problem by parameterizing a…
Stochastic filters for on-line state estimation are a core technology for autonomous systems. The performance of such filters is one of the key limiting factors to a system's capability. Both asymptotic behavior (e.g.,~for regular…
We study the quantum metrology for a pair of entangled Unruh-Dewitt detectors when one of them is accelerated and coupled to a massless scalar field. Comparing with previous schemes, our model requires only local interaction and avoids the…
Many smartphone applications use inertial measurement units (IMUs) to sense movement, but the use of these sensors for pedestrian localization can be challenging due to their noise characteristics. Recent data-driven inertial odometry…
Existing inertial motion capture techniques use the human root coordinate frame to estimate local poses and treat it as an inertial frame by default. We argue that when the root has linear acceleration or rotation, the root frame should be…