相关论文: On Inertial Navigation and Attitude Initialization…

In this paper, we propose a new strategy for learning inertial robotic navigation models. The proposed strategy enhances the generalisability of end-to-end inertial modelling, and is aimed at wheeled robotic deployments. Concretely, the…

Indoor magnetic fields are a combination of Earth's magnetic field and disruptions induced by ferromagnetic objects, such as steel structural components in buildings. As a result of these disruptions, pervasive in indoor spaces, magnetic…

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 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…

In this article, a tutorial introduction to visual-inertial navigation(VIN) is presented. Visual and inertial perception are two complementary sensing modalities. Cameras and inertial measurement units (IMU) are the corresponding sensors…

Autonomous shipping has recently gained much interest in the research community. However, little research focuses on inland - and port navigation, even though this is identified by countries such as Belgium and the Netherlands as an…

Inertial measurement units are commonly used to estimate the attitude of moving objects. Numerous nonlinear filter approaches have been proposed for solving the inherent sensor fusion problem. However, when a large range of different…

Successful navigation of a rigid-body traveling with six degrees of freedom (6 DoF) requires accurate estimation of attitude , position, and linear velocity. The true navigation dynamics are highly nonlinear and are modeled on the matrix…

Navigation functions provide both path and motion planning, which can be used to ensure obstacle avoidance and convergence in the sphere world. When dealing with complex and realistic scenarios, constructing a transformation to the sphere…

Challenges inherent to autonomous wintertime navigation in forests include lack of reliable a Global Navigation Satellite System (GNSS) signal, low feature contrast, high illumination variations and changing environment. This type of…

Autonomous vehicles and wheeled robots are widely used in many applications in both indoor and outdoor settings. In practical situations with limited GNSS signals or degraded lighting conditions, the navigation solution may rely only on…

Inertial sensors based on micro-electromechanical systems (MEMS) technology, such as accelerometers and angular rate sensors, are cost-effective solutions used in inertial navigation systems in a broad spectrum of applications that estimate…

Attitude and heading reference systems (AHRS) play a central role in autonomous navigation systems on land, air and maritime platforms. AHRS utilize inertial sensor measurements to estimate platform orientation. In recent years, there has…

This paper proposes a position fixing method for autonomous navigation using partial gravity gradient solutions from cold atom interferometers. Cold atom quantum sensors can provide ultra-precise measurements of inertial quantities, such as…

This paper proposes a novel data-driven approach for inertial navigation, which learns to estimate trajectories of natural human motions just from an inertial measurement unit (IMU) in every smartphone. The key observation is that human…

Vessel transit in ice-covered waters poses unique challenges in safe and efficient motion planning. When the concentration of ice is high, it may not be possible to find collision-free trajectories. Instead, ice can be pushed out of the way…

We tackle the problem of localizing an autonomous sea-surface vehicle in river estuarine areas using monocular camera and angular velocity input from an inertial sensor. Our method is challenged by two prominent drawbacks associated with…

This paper studies the problem of image-goal navigation which involves navigating to the location indicated by a goal image in a novel previously unseen environment. To tackle this problem, we design topological representations for space…

The task of indoor positioning is fundamental to several applications, including navigation, healthcare, location-based services, and security. An emerging field is inertial navigation for pedestrians, which relies only on inertial sensors…

Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…