Related papers: Bluetooth Phased-array Aided Inertial Navigation U…
In this paper, we study a cellular-enabled unmanned aerial vehicle (UAV) communication system consisting of one UAV and multiple ground base stations (GBSs). The UAV has a mission of flying from an initial location to a final location,…
Due to the directive property of each antenna element, the received signal power can be severely attenuated when the emitter deviates from the array boresight, which will lead to a severe degradation in sensing performance along the…
This paper describes the design and development of a non-intrusive inertial speed sensor that can be reliably used to replace a conventional optical or hall effect-based speedometer on any kind of ground vehicle. The design allows for…
This paper proposes a low-cost six Degree-of-Freedom (6-DOF) navigation system for small aerial robots based on the integration of Global Position System (GPS) receiver with sensors of inertional Microelectromechanical Systems (MEMS). In…
Secure navigation is pivotal for several applications including autonomous vehicles, robotics, and aviation. The inertial navigation system estimates position, velocity, and attitude through dead reckoning especially when external…
In autonomous applications for mobility and transport, a high-rate and highly accurate vehicle-state estimation is achieved by fusing measurements of global navigation satellite systems (GNSS) and inertial sensors. The state estimation and…
This paper considers the localization problem in a 5G-aided global navigation satellite system (GNSS) based on real-time kinematic (RTK) technique. Specifically, the user's position is estimated based on the hybrid measurements, including…
An integrity-based path planning strategy for autonomous ground vehicle (AGV) navigation in urban environments is developed. The vehicle is assumed to navigate by utilizing cellular long-term evolution (LTE) signals in addition to Global…
Inertial sensing is used in many applications and platforms, ranging from day-to-day devices such as smartphones to very complex ones such as autonomous vehicles. In recent years, the development of machine learning and deep learning…
In this paper, we develop a system for the low-cost indoor localization and tracking problem using radio signal strength indicator, Inertial Measurement Unit (IMU), and magnetometer sensors. We develop a novel and simplified probabilistic…
Direct-to-satellite (DtS) communication has gained importance recently to support globally connected Internet of things (IoT) networks. However, relatively long distances of densely deployed satellite networks around the Earth cause a high…
Modern smartphones have all the sensing capabilities required for accurate and robust navigation and tracking. In specific environments some data streams may be absent, less reliable, or flat out wrong. In particular, the GNSS signal can…
Inertial navigation using low-cost MEMS sensors is plagued by rapid drift due to sensor noise and bias instability. While recent data-driven approaches have made significant strides, they often struggle with micro-drifts during stationarity…
The rapid development of technology has led to an increase in the number of devices that rely on position, velocity, and time (PVT) information to perform their functions. As such, the Global Navigation Satellite Systems (GNSS) have been…
Radio signals are used broadly as navigation aids, and current and future terrestrial wireless communication systems have properties that make their dual-use for this purpose attractive. Sub-6 GHz carrier frequencies enable widespread…
Tensegrity robots offer compliance and adaptability, but their nonlinear, and underconstrained dynamics make state estimation challenging. Reliable continuous-time estimation of all rigid links is crucial for closed-loop control, system…
Feature-based geo-localization relies on associating features extracted from aerial imagery with those detected by the vehicle's sensors. This requires that the type of landmarks must be observable from both sources. This lack of variety of…
We propose factor graph optimization for simultaneous planning, control, and trajectory estimation for collision-free navigation of autonomous systems in environments with moving objects. The proposed online probabilistic motion planning…
Global Navigation Satellite Systems (GNSS) underpin positioning, navigation, and timing (PNT), yet their low-power signals are easily blocked or disrupted, leaving gaps in PNT availability in contested environments (e.g. maritime settings)…
The diagnosis of induction machines has traditionally relied on model-based methods that require the development of complex dynamic models, making them difficult to implement and computationally expensive. To overcome these limitations,…