相关论文: Magnetic Sensor Compensation Utilizing Factor Grap…

Magnetic navigation (MagNav) is a rising alternative to the Global Positioning System (GPS) and has proven useful for aircraft navigation. Traditional aircraft navigation systems, while effective, face limitations in precision and…

In this work we present a practical algorithm for calibrating a magnetometer for the presence of magnetic disturbances and for magnetometer sensor errors. To allow for combining the magnetometer measurements with inertial measurements for…

Modern autonomous vehicles and robots utilize versatile sensors for localization and mapping. The fidelity of these maps is paramount, as an accurate environmental representation is a prerequisite for stable and precise localization. Factor…

Airborne Magnetic Anomaly Navigation (MagNav) provides a jamming-resistant and robust alternative to satellite navigation but requires the real-time compensation of the aircraft platform's large and dynamic magnetic interference.…

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…

MEMS Attitude Heading Reference Systems are widely employed to determine a system's attitude, but sensor measurement biases limit their accuracy. This paper introduces a novel factor graph-based method called MAgnetometer and GYroscope…

Accurate localization is a core component of a robot's navigation system. To this end, global navigation satellite systems (GNSS) can provide absolute measurements outdoors and, therefore, eliminate long-term drift. However, fusing GNSS…

Despite their widespread use in determining system attitude, Micro-Electro-Mechanical Systems (MEMS) Attitude and Heading Reference Systems (AHRS) are limited by sensor measurement biases. This paper introduces a method called MAgnetometer…

This paper describes a calibration algorithm to simultaneously calibrate a magnetometer and an accelerometer without any information besides the sensors readings. Using a linear sensor model and maximum likelihood cost, the algorithm is…

Modern navigation systems rely critically on GNSS, which in many cases is unavailable or unreliable (e.g. due to jamming or spoofing). For this reason there is great interest in augmenting backup navigation systems such as inertial…

Magnetometers, gyroscopes and accelerometers are commonly used sensors in a variety of applications. The paper proposes a novel gyroscope calibration method in the homogeneous magnetic field by the help of magnetometer. It is shown that,…

Airborne magnetometry requires rigorous calibration to isolate geomagnetic signals from sensor errors and platform magnetic fields. This magnetic compensation is needed for applications like geophysical exploration and magnetic anomaly…

While Wi-Fi positioning is still more common indoors, using magnetic field features has become widely known and utilized as an alternative or supporting source of information. Magnetometer bias presents significant challenge in magnetic…

Harnessing the magnetic field of the Earth for navigation has shown promise as a viable alternative to other navigation systems. A magnetic navigation system collects its own magnetic field data using a magnetometer and uses magnetic…

Quantitative inversion algorithms allow for the reconstruction of electrical properties (such as permittivity, and conductivity) for every point in a scene. However, they are challenging to use on measured datasets due to the need to know…

This study introduces a novel approach that integrates the magnetic field data correction from the Tianwen-1 Mars mission with a neural network architecture constrained by physical principles derived from Maxwell's equation equations. By…

Global navigation satellite systems (GNSS) are one of the utterly popular sources for providing globally referenced positioning for autonomous systems. However, the performance of the GNSS positioning is significantly challenged in urban…

Factor graphs are graphical models used to represent a wide variety of problems across robotics, such as Structure from Motion (SfM), Simultaneous Localization and Mapping (SLAM) and calibration. Typically, at their core, they have an…

Multimodal sensor fusion enables robust environmental perception by leveraging complementary information from heterogeneous sensing modalities. However, accurate calibration is a critical prerequisite for effective fusion. This paper…

We study the calibration process in circular ultrasound tomography devices where the sensor positions deviate from the circumference of a perfect circle. This problem arises in a variety of applications in signal processing ranging from…