Related papers: Enhanced INS/GNSS State Estimation using GNSS-Base…
This study focuses on the critical aspect of robust state estimation for the safe navigation of an Autonomous Vehicle (AV). Existing literature primarily employs two prevalent techniques for state estimation, namely filtering-based and…
Multipath and non-line-of-sight (NLOS) signals are the major causes of poor accuracy of a global navigation satellite system (GNSS) in urban areas. Despite the wide usage of the GNSS in populated urban areas, it is difficult to suggest a…
Correcting gradual position drift is a challenge in long-term subsea navigation. Though highly accurate, modern inertial navigation system (INS) estimates will drift over time due to the accumulated effects of sensor noise and biases, even…
Accurate and consistent vehicle localization in urban areas is challenging due to the large-scale and complicated environments. In this paper, we propose onlineFGO, a novel time-centric graph-optimization-based localization method that…
This paper addresses the issues of unmanned aerial vehicle (UAV) indoor navigation, specifically in areas where GPS and magnetometer sensor measurements are unavailable or unreliable. The proposed solution is to use an error state extended…
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…
The availability of real-world data is a key element for novel developments in the fields of automotive and traffic research. Aerial imagery has the major advantage of recording multiple objects simultaneously and overcomes limitations such…
There is an increasing popularity in exploiting modern vehicles as mobile sensors to obtain important road information such as potholes, black ice and road profile. Availability of such information has been identified as a key enabler for…
This paper considers the problem of simultaneous estimation of the attitude, position and linear velocity for vehicles navigating in a three-dimensional space. We propose two types of hybrid nonlinear observers using continuous angular…
Standalone Global Navigation Satellite Systems (GNSS) are known to provide positioning accuracy of a few meters in open sky conditions. This accuracy can drop significantly when the line-of-sight (LOS) paths to some GNSS satellites are…
For effective autonomous navigation,estimation of the pose of the robot is essential at every sampling time. For computing an accurate estimation,odometric error needs to be reduced with the help of data from external sensor. In this work,…
Traditional visual-inertial state estimation targets absolute camera poses and spatial landmark locations while first-order kinematics are typically resolved as an implicitly estimated sub-state. However, this poses a risk in velocity-based…
A simple approach to gyro and accelerometer bias estimation is proposed. It does not involve Kalman filtering or similar formal techniques. Instead, it is based on physical intuition and exploits a duality between gimbaled and strapdown…
In GNSS-denied environments, aiding a vehicle's inertial navigation system (INS) is crucial to reducing the accumulated navigation drift caused by sensor errors (e.g. bias and noise). One potential solution is to use measurements of gravity…
To measure system states and local environment directly with high precision, expensive sensors are required. However, highly accurate system states and environmental perception can also be achieved using data fusion techniques and digital…
The accelerating pace in the automation of agricultural tasks demands highly accurate and robust localization systems for field robots. Simultaneous Localization and Mapping (SLAM) methods inevitably accumulate drift on exploratory…
This paper describes a novel method for the estimation of the trajectory curve and orientation of a rigid body moving along a railway track. Compared to other recent developments in the literature, the presented approach has the significant…
Phased-array Bluetooth systems have emerged as a low-cost alternative for performing aided inertial navigation in GNSS-denied use cases such as warehouse logistics, drone landings, and autonomous docking. Basing a navigation system off of…
Position-meter and speed-meter interferometers have been analysed for detecting gravitational waves. We introduce the concept of acceleration measurement in comparison with position and speed measurement. In this paper, we describe a…
This paper presents a state-estimation solution for legged robots that uses a set of low-cost, compact, and lightweight sensors to achieve low-drift pose and velocity estimation under challenging locomotion conditions. The key idea is to…