Related papers: GNSS-Inertial State Initialization Using Inter-Epo…
Accurate and reliable navigation is essential for autonomous ground vehicle operations. Standard INS/GNSS fusion relies on GNSS position updates, which provide limited observability of orientation and inertial sensor error states,…
Integration of inertial navigation system (INS) and global navigation satellite system (GNSS) is usually implemented in engineering applications by way of Kalman-like filtering. This form of INS/GNSS integration is prone to attitude…
Motivated by the goal of achieving long-term drift-free camera pose estimation in complex scenarios, we propose a global positioning framework fusing visual, inertial and Global Navigation Satellite System (GNSS) measurements in multiple…
Inertial navigation systems (INS) are widely used in almost any operational environment, including aviation, marine, and land vehicles. Inertial measurements from accelerometers and gyroscopes allow the INS to estimate position, velocity,…
Reliable vehicle navigation in urban environments remains a challenging problem due to frequent satellite signal blockages caused by tall buildings and complex infrastructure. While fusing inertial reading with satellite positioning in an…
In the Global Navigation Satellite System (GNSS) context, the growing number of available satellites has lead to many challenges when it comes to choosing the most accurate pseudorange contributions, given the strong impact of biased…
Inertial-aided systems require continuous motion excitation among other reasons to characterize the measurement biases that will enable accurate integration required for localization frameworks. This paper proposes the use of informative…
Global Navigation Satellite Systems (GNSS) aided Inertial Navigation System (INS) is a fundamental approach for attaining continuously available absolute vehicle position and full state estimates at high bandwidth. For transportation…
An algorithm based on Artificial Neural Networks is proposed in this paper to improve the accuracy of Inertial Navigation System (INS)/ Global Navigation Satellite System (GNSS) integrated navigation during the absence of GNSS signals. The…
This paper presents research findings on handling faulty measurements (i.e., outliers) of global navigation satellite systems (GNSS) for vehicle localization under adverse signal conditions in field applications, where raw GNSS data are…
Robotic applications are continuously striving towards higher levels of autonomy. To achieve that goal, a highly robust and accurate state estimation is indispensable. Combining visual and inertial sensor modalities has proven to yield…
The interest in mobile platforms across a variety of applications has increased significantly in recent years. One of the reasons is the ability to achieve accurate navigation by using low-cost sensors. To this end, inertial sensors are…
A great surge in the development of global navigation satellite systems (GNSS) excavates the potential for prosperity in many state-of-the-art technologies, e.g., autonomous ground vehicle navigation. Nevertheless, the GNSS is vulnerable to…
The Global Positioning Systems (GPS) and Inertial Navigation System (INS) technology have attracted a considerable importance recently because of its large number of solutions serving both military as well as civilian applications. This…
Global Navigation Satellite Systems enable precise localization and timing even for highly mobile devices, but legacy implementations provide only limited support for the new generation of security-enhanced signals. Inertial Measurement…
Due to the widespread deployment of Global Navigation Satellite Systems (GNSSs) for critical road or urban applications, one of the major challenges to be solved is the provision of integrity to terrestrial environments, so that GNSS may be…
Visual-Inertial odometry (VIO) is known to suffer from drifting especially over long-term runs. In this paper, we present GVINS, a non-linear optimization based system that tightly fuses GNSS raw measurements with visual and inertial…
Precise, consistent, and reliable positioning is crucial for a multitude of uses. In order to achieve high precision global positioning services, multi-sensor fusion techniques, such as the Global Navigation Satellite System (GNSS)/Inertial…
Many multi-sensor navigation systems urgently demand accurate positioning initialization from global navigation satellite systems (GNSSs) in challenging static scenarios. However, ground blockages against line-of-sight (LOS) signal…
A global navigation satellite system (GNSS) is a sensor that can acquire 3D position and velocity in an earth-fixed coordinate system and is widely used for outdoor position estimation of robots and vehicles. Various GNSS/inertial…