Related papers: On the effects of angular acceleration in orientat…
Attitude and heading reference systems (AHRS) play a central role in autonomous navigation systems on land, air and maritime platforms. AHRS utilize inertial sensor measurements to estimate platform orientation. In recent years, there has…
We investigate sources of error in acceleration statistics from Lagrangian Particle Tracking (LPT) data and demonstrate techniques to eliminate or minimise bias errors introduced during processing. Numerical simulations of particle tracking…
We demonstrate a closed-loop light-pulse atom interferometer inertial sensor that can realize continuous decoupled measurements of acceleration and rotation rate. The sensor operates with double-loop atom interferometers, which share the…
This paper proposes a unified mathematical framework for inertial measurement unit (IMU) preintegration in inertial-aided navigation system in different frames under different motion condition. The navigation state is precisely discretized…
The acquisition of attitude, velocity, and position is an essential task in the field of inertial navigation, achieved by integrating the measurements from inertial sensors. Recently, the ultra-precision inertial navigation computation has…
This paper introduces two novel nonlinear stochastic attitude estimators developed on the Special Orthogonal Group \mathbb{SO}\left(3\right) with the tracking error of the normalized Euclidean distance meeting predefined transient and…
Accurate disturbance estimation is crucial for reliable robotic physical interaction. To estimate environmental interference in a low-cost and sensorless way (without force sensor), a variety of tightly-coupled visual inertial external…
Fundamental sensor feedback limitations for improving rotor angle stability using local frequency or phase angle measurement are derived. Using a two-machine power system model, it is shown that improved damping of inter-area oscillations…
The problem of $H_{\infty}$ filtering for attitude estimation using rotation matrices and vector measurements is studied. Starting from a storage function on the Special Orthogonal Group $SO(3)$, a dissipation inequality is considered, and…
The intracavity power, and hence sensitivity, of optomechanical sensors is commonly limited by parametric instability. Here we characterize the parametric instability induced sensitivity degradation in a micron scale cavity optomechanical…
We consider the impact of inertia on biased Brownian motion of point particles in a two-dimensional channel with sinusoidally varying width. If the time scales of the problem separate, the adiabatic elimination of the transverse degrees of…
We investigate the limitations of length measurements by accelerated observers in Minkowski spacetime brought about via the hypothesis of locality, namely, the assumption that an accelerated observer at each instant is equivalent to an…
Two nonlinear observers for velocity-aided attitude estimation, relying on gyrometers, accelerometers, magnetometers, and velocity measured in the body-fixed frame, are proposed. As opposed to state-of-the-art body-fixed velocity-aided…
The aim of the experiment series was to test the influence of acceleration on time dilation by measuring the relative spectral shift between the resonance spectra of a rotating Mossbauer absorber with acceleration anti-parallel and parallel…
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…
The design of a globally convergent position observer for feature points from visual information is a challenging problem, especially for the case with only inertial measurements and without assumptions of uniform observability, which…
We present an approach for radar-inertial odometry which uses a continuous-time framework to fuse measurements from multiple automotive radars and an inertial measurement unit (IMU). Adverse weather conditions do not have a significant…
The precisions of existing gravitational calibrators for gravitational wave observatories are limited by their dependence on the relative position between the calibrators and the observatory's test masses. Here we present a novel geometry…
Collaborative Localisation has been studied extensively in recent years as a way to improve pose estimation of unmanned aerial vehicles in challenging environments. However little attention has been paid toward advancing the underlying…
The measurement and correction of optics parameters has been a major concern since the advent of strong focusing synchrotron accelerators. A review of typical imperfections in accelerator optics together with measurement and correction…