Related papers: Barometer-Aided Attitude Estimation
Baseline azimuth calculation using GPS carrier phase data can be achieved in a classic way by using two or more geodetic synchronized GPS receivers. Such system includes dedicated expensive components and thus is not applicable to many…
Due to the inability to receive signals from the Global Navigation Satellite System (GNSS) in extreme conditions, achieving accurate and robust navigation for Unmanned Aerial Vehicles (UAVs) is a challenging task. Recently emerged,…
This article proposes an inertial navigation algorithm intended to lower the negative consequences of the absence of GNSS (Global Navigation Satellite System) signals on the navigation of autonomous fixed wing low SWaP (Size, Weight, and…
This paper addresses the leader-following attitude consensus problem for a group of spacecraft when at least one follower can access the leader's attitude and velocity relative to the inertial space. A nonlinear distributed observer is…
In this paper, we consider a position estimation problem for an unmanned aerial vehicle (UAV) equipped with both proprioceptive sensors, i.e. IMU, and exteroceptive sensors, i.e. GPS and a barometer. We propose a data-driven position…
In this paper, we design a nonlinear observer to estimate the inertial pose and the velocity of a free-floating non-cooperative satellite (Target) using only relative pose measurements. In the context of control design for orbital robotic…
This paper proposes a globally and exponentially convergent predictive observer for attitude and position estimation based on landmark measurements and velocity (angular and linear) readings. It is assumed that landmark measurements are…
Inertial odometry (IO) using only Inertial Measurement Units (IMUs) offers a lightweight and cost-effective solution for Unmanned Aerial Vehicle (UAV) applications, yet existing learning-based IO models often fail to generalize to UAVs due…
This paper addresses the problem of Visual-Inertial Odometry (VIO) for rigid body systems evolving in three-dimensional space. We introduce a novel matrix Lie group structure, denoted SE_{3+n}(3), that unifies the pose, gravity, linear…
There are several attitude estimation algorithms in existence, all of which use local coordinate representations for the group of rigid body orientations. All local coordinate representations of the group of orientations have associated…
The attitude of a rigid body evolves on the three-dimensional special orthogonal group, and it is often estimated by measuring reference directions, such as gravity or magnetic field, using an onboard sensor. As a single direction…
The capability to extract task specific, semantic information from raw sensory data is a crucial requirement for many applications of mobile robotics. Autonomous inspection of critical infrastructure with Unmanned Aerial Vehicles (UAVs),…
This paper proposes new algorithms for attitude estimation and control based on fused inertial vector measurements using linear complementary filters principle. First, n-order direct and passive complementary filters combined with TRIAD…
Navigation in Global Positioning Systems (GPS)-denied environments requires robust estimators reliant on fusion of inertial sensors able to estimate rigid-body's orientation, position, and linear velocity. Ultra-wideband (UWB) and Inertial…
This paper provides new results for a tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid complexities and…
Global Positioning System (GPS) satellites are essential for providing accurate navigation and timing information worldwide. Operating in medium Earth orbit (MEO), these satellites must maintain precise Earth-pointing attitudes to transmit…
A geometric estimator is proposed for the rigid body attitude under multi-rate measurements using discrete-time Lyapunov stability analysis in this work. The angular velocity measurements are assumed to be sampled at a higher rate compared…
Inertial odometry (IO) using strap-down inertial measurement units (IMUs) is critical in many robotic applications where precise orientation and position tracking are essential. Prior kinematic motion model-based IO methods often use a…
This work presents two novel solvers for estimating the relative poses among views with known vertical directions. The vertical directions of camera views can be easily obtained using inertial measurement units (IMUs) which have been widely…
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…