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In order to increase the measured phase of an atom interferometer and improve its sensitivity, researchers attempt to increase the enclosed space-time area using two methods: creating larger separations between the interferometer arms and…
This paper presents a novel online capable method for simultaneous estimation of human motion in terms of segment orientations and positions along with sensor-to-segment calibration parameters from inertial sensors attached to the body. In…
The paper discusses the improvement of the accuracy of an inertial navigation system created on the basis of MEMS sensors using machine learning (ML) methods. As input data for the classifier, we used infor-mation obtained from a developed…
Low-cost micro-electromechanical accelerometers are widely used in navigation, robotics, and consumer devices for motion sensing and position estimation. However, their performance is often degraded by bias errors. To eliminate…
This paper presents solutions to the following two common quaternion attitude estimation problems: (i) estimation of attitude using measurement of two reference vectors, and (ii) estimation of attitude using rate measurement and measurement…
In this work a method for using accelerometers for the determination of angular velocity and acceleration is presented. Minimum sensor requirements and insights into how an array of accelerometers can be configured to maximize estimator…
Cavities in linear accelerators suffer from eigenfrequency shifts due to mechanical deformation caused by the electromagnetic radiation pressure, a phenomenon known as Lorentz detuning. Estimating the frequency shift up to the needed…
Rigid body systems usually consider measurements of the pose of the body using onboard cameras/LiDAR systems, that of linear acceleration using an accelerometer and of angular velocity using an IMU. However, the measurements of the linear…
Unmanned vehicle navigation concerns estimating attitude, position, and linear velocity of the vehicle the six degrees of freedom (6 DoF). It has been known that the true navigation dynamics are highly nonlinear modeled on the Lie Group of…
This paper compares the performance of adaptive and robust Kalman filter algorithms in improving wheel-inertial odometry on low featured rough terrain. Approaches include classical adaptive and robust methods as well as variational methods,…
We study the error in approximating the minimum of a Brownian motion on the unit interval based on finitely many point evaluations. We construct an algorithm that adaptively chooses the points at which to evaluate the Brownian path. In…
We study the entanglement behavior of a random unitary circuit punctuated by projective measurements at the measurement-driven phase transition in one spatial dimension. We numerically study the logarithmic entanglement negativity of two…
The single-scatter approximation is fundamental in many tomographic imaging problems including x-ray scatter imaging and optical scatter imaging for certain media. In all cases, noisy measurements are affected by both local scatter events…
Inertial sensors play a pivotal role in indoor localization, which in turn lays the foundation for pervasive personal applications. However, low-cost inertial sensors, as commonly found in smartphones, are plagued by bias and noise, which…
Inertial navigation applications are usually referenced to a rotating frame. Consideration of the navigation reference frame rotation in the inertial navigation algorithm design is an important but so far less seriously treated issue,…
Inertial Navigation Systems (INS) are algorithms that fuse inertial measurements of angular velocity and specific acceleration with supplementary sensors including GNSS and magnetometers to estimate the position, velocity and attitude, or…
We analyze the observability of motion estimates from the fusion of visual and inertial sensors. Because the model contains unknown parameters, such as sensor biases, the problem is usually cast as a mixed identification/filtering, and the…
We present a method of extrinsic calibration for a system of multiple inertial measurement units (IMUs) that estimates the relative pose of each IMU on a rigid body using only measurements from the IMUs themselves, without the need to…
We examine the prospects of utilizing matter-wave Fabry-P\'{e}rot interferometers for enhanced inertial sensing applications. Our study explores such tunneling-based sensors for the measurement of accelerations in two configurations: (a) a…
In the analysis of spatial point patterns on linear networks, a critical statistical objective is estimating the first-order intensity function, representing the expected number of points within specific subsets of the network. Typically,…