Related papers: Enhanced INS/GNSS State Estimation using GNSS-Base…
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…
Magnetometer and inertial sensors are widely used for orientation estimation. Magnetometer usage is often troublesome, as it is prone to be interfered by onboard or ambient magnetic disturbance. The onboard soft-iron material distorts not…
We propose an attitude and gyro-bias estimation scheme for accelerated rigid body systems using an inertial measurement unit (IMU) and a global positioning system (GPS). The proposed scheme allows to obtain attitude estimates directly on…
Inertial measurement unit (IMU) preintegration is widely used in factor graph optimization (FGO); e.g., in visual-inertial navigation system and global navigation satellite system/inertial navigation system (GNSS/INS) integration. However,…
Unlike loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw Global Navigation Satellite System (GNSS) measurements, a first attempt of this…
The combination of data from multiple sensors, also known as sensor fusion or data fusion, is a key aspect in the design of autonomous robots. In particular, algorithms able to accommodate sensor fusion techniques enable increased accuracy,…
Context Progresses in GNSS-based solution introduction in rail applications GNSS (Global Navigation Satellite System) is now used in most of our travels and each of our smartphone apps. Most of the usages are not safety-critical. But Europe…
Jamming devices disrupt signals from the global navigation satellite system (GNSS) and pose a significant threat by compromising the reliability of accurate positioning. Consequently, the detection and localization of these interference…
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…
High-precision vehicle positioning is key to the implementation of modern driving systems in urban environments. Global Navigation Satellite System (GNSS) carrier phase measurements can provide millimeter- to centimeter-level positioning,…
The Global Navigation Satellite System (GNSS) provides critical positioning information globally, but its accuracy in dense urban environments is often compromised by multipath and non-line-of-sight errors. Road network data can be used to…
Cooperative localization is a promising solution to improve the accuracy and overcome the shortcomings of GNSS. Cooperation is often achieved by measuring the distance between users. To optimally integrate a distance measurement between two…
This paper presents an extension of the DRIFT invariant state estimation framework, enabling robust fusion of GPS and IMU data for accurate pose and heading estimation. Originally developed for testing and usage on a marine autonomous…
This paper presents the most thorough study to date of vehicular carrier-phase differential GNSS (CDGNSS) positioning performance in a deep urban setting unaided by complementary sensors. Using data captured during approximately 2 hours of…
This paper presents a vehicle-independent, non-intrusive, and light monitoring system for accurately measuring fuel consumption in road vehicles from longitudinal speed and acceleration derived continuously in time from GNSS and IMU sensors…
This paper proposes a method for tight fusion of visual, depth and inertial data in order to extend robotic capabilities for navigation in GPS-denied, poorly illuminated, and texture-less environments. Visual and depth information are fused…
Train localization during Global Navigation Satellite Systems (GNSS) outages presents challenges for ensuring failsafe and accurate positioning in railway networks. This paper proposes a minimalist approach exploiting track geometry and…
High-precision navigation and positioning systems are critical for applications in autonomous vehicles and mobile mapping, where robust and continuous localization is essential. To test and enhance the performance of algorithms, some…
The inertial navigation system (INS) has been widely used to provide self-contained and continuous motion estimation in intelligent transportation systems. Recently, the emergence of chip-level inertial sensors has expanded the relevant…
Global Navigation Satellite Systems (GNSS) applications are often hindered by various sources of error, with multipath interference being one of the most challenging, particularly in urban environments. In this work, we build on previous…