相关论文: Data-Driven Gyroscope Calibration

A fault detection and isolation method for satellite rate gyros is proposed based on using the satellite-to-satellite measurements such as relative position beside orbit parameters of the primary satellite. By finding a constant of motion,…

Stochastic filters for on-line state estimation are a core technology for autonomous systems. The performance of such filters is one of the key limiting factors to a system's capability. Both asymptotic behavior (e.g.,~for regular…

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…

The MICROSCOPE space mission aims to test the Equivalence Principle with an accuracy of $10^{-15}$. The drag-free micro-satellite will orbit around the Earth and embark a differential electrostatic accelerometer including two cylindrical…

External effects such as shocks and temperature variations affect the calibration of visual-inertial sensor systems and thus they cannot fully rely on factory calibrations. Re-calibrations performed on short user-collected datasets might…

We propose a novel angular velocity estimation method to increase the robustness of Simultaneous Localization And Mapping (SLAM) algorithms against gyroscope saturations induced by aggressive motions. Field robotics expose robots to various…

Inertial navigation systems (INS) are widely used in both manned and autonomous platforms. One of the most critical tasks prior to their operation is to accurately determine their initial alignment while stationary, as it forms the…

Robotic calibration allows for the fusion of data from multiple sensors such as odometers, cameras, etc., by providing appropriate relationships between the corresponding reference frames. For wheeled robots equipped with camera/lidar along…

This paper presents a real-time calibration method for gyro sensors in consumer portable devices. The calibration happens automatically without the need for external equipment or user intervention. Multi-level constraints, including the…

We describe a gyroscope that measures rotation based on the effects of the rotation on the polarization of light. Rotation induces a differential phase shift in the propagation of left- and right-circularly polarized light and this phase…

In the literature, points and conics have been major features for camera geometric calibration. Although conics are more informative features than points, the loss of the conic property under distortion has critically limited the utility of…

Recently, there has been significant interest in the ability to navigate without GPS using the magnetic anomaly field of the Earth (magnav). One of the key technical bottlenecks to achieving magnav is obtaining an accurate magnetic sensor…

In order to test gravitation in the Solar System, it is necessary to improve the orbit restitution of interplanetary spacecrafts. The addition of an accelerometer on board is a major step toward this goal because this instrument measures…

Accurate measurement of inertial quantities is essential in geophysics, geodesy, fundamental physics and navigation. For instance, inertial navigation systems require stable inertial sensors to compute the position and attitude of the…

For many computer vision applications, the availability of camera calibration data is crucial as overall quality heavily depends on it. While calibration data is available on some devices through Augmented Reality (AR) frameworks like…

Over the past decades, a tremendous amount of work has addressed the topic of ego-motion estimation of moving platforms based on various proprioceptive and exteroceptive sensors. At the cost of ever-increasing computational load and sensor…

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…

The Gravity Advanced Package is an instrument composed of an electrostatic accelerometer called MicroSTAR and a rotating platform called Bias Rejection System. It aims at measuring with no bias the non-gravitational acceleration of a…

Attitude estimation methods typically rely on full vector measurements from inertial sensors such as accelerometers and magnetometers. This paper shows that reliable estimation can also be achieved using only scalar measurements, which…

With ever increasing data rates produced by modern radio telescopes like LOFAR and future telescopes like the SKA, many data processing steps are overwhelmed by the amount of data that needs to be handled using limited compute resources.…