Related papers: C-ZUPT: Stationarity-Aided Aerial Hovering
The zero-velocity update (ZUPT) algorithm provides valuable state information to maintain the inertial navigation system (INS) reliability when stationary conditions are satisfied. Employing ZUPT along with leveraging non-holonomic…
In this work, we demonstrate the importance of zero velocity information for global navigation satellite system (GNSS) based navigation. The effectiveness of using the zero velocity information with zero velocity update (ZUPT) for inertial…
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 navigation systems of autonomous aircraft rely on the readings provided by a suite of onboard sensors to estimate the aircraft state. In the case of fixed wing vehicles, the sensor suite is composed by triads of accelerometers,…
The Zero Propellant Maneuver (ZPM) maneuvers the space station by large angle, utilizing the Control Momentum Gyroscopes (CMGs) only. A robust tracking guidance strategy is proposed to enhance its performance. It is distinguished from the…
Cyber-physical systems (CPS) such as unmanned aerial vehicles are vulnerable to slow degradation that develops without causing immediate or obvious failures. Small sensor biases or timing irregularities can accumulate over time, gradually…
Natural disasters affect structural health of buildings, thus directly impacting public safety. Continuous structural monitoring can be achieved by deploying an internet of things (IoT) network of distributed sensors in buildings to capture…
This paper presents an adaptive observer-based navigation strategy for spacecraft in Circular Relative Orbit (CRO) scenarios, addressing challenges in proximity operations like formation flight and uncooperative target inspection. The…
Foot-mounted inertial sensors become popular in many indoor or GPS-denied applications, including but not limited to medical monitoring, gait analysis, soldier and first responder positioning. However, the foot-mounted inertial navigation…
The attitude stabilization of a micro-satellite employing a variable-amplitude cold gas thruster which reflects as a time varying gain on the control input is considered. Existing literature uses a persistence filter based approach that…
In this paper, we argue that modern pre-integration methods for inertial measurement units (IMUs) are accurate enough to ignore the drift for short time intervals. This allows us to consider a simplified camera model, which in turn admits…
Jitter degrades a spacecraft's fine-pointing ability required for optical communication, earth observation, and space domain awareness. Development of jitter estimation and compensation algorithms requires high-fidelity sensor observations…
This paper proposes a novel method for geo-tracking, i.e. continuous metric self-localization in outdoor environments by registering a vehicle's sensor information with aerial imagery of an unseen target region. Geo-tracking methods offer…
Search and rescue operations require unmanned aerial vehicles to both traverse unknown unstructured environments at high speed and track targets once detected. Achieving both capabilities under degraded sensing and without global…
Unmanned aerial vehicle (UAV) tracking is crucial for autonomous navigation and has broad applications in robotic automation fields. However, reliable UAV tracking remains a challenging task due to various difficulties like frequent…
Fixed-wing unmanned aerial vehicles (UAVs) are of great potential to serve as aerial access points (APs) owing to better aerodynamic performance and longer flight endurance. However, the inherent hovering feature of fixed-wing UAVs may…
Navigating in off-road environments for wheeled mobile robots is challenging due to dynamic and rugged terrain. Traditional physics-based stability metrics, such as Static Stability Margin (SSM) or Zero Moment Point (ZMP) require knowledge…
In this work, we evaluate the use of aerial drone hover constraints in a multisensor fusion of ground robot and drone data to improve the localization performance of a drone. In particular, we build upon our prior work on cooperative…
This paper considers dynamic transmit covariance design in point-to-point MIMO fading systems with unknown channel state distributions and inaccurate channel state information subject to both long term and short term power constraints.…
We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter. Without external aiding, inertial navigation solutions…