相关论文: Scalar and Vector Airborne Platform Calibration Us…

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…

Attitude estimation using scalar measurements, corresponding to partial vectorial observations, arises naturally when inertial vectors are not fully observed but only measured along specific body-frame vectors. Such measurements arise in…

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…

This paper revisits the problem of orientation estimation for rigid bodies through a novel framework based on scalar measurements. Unlike traditional vector-based methods, the proposed approach enables selective utilization of only the…

Magnetic surveys are conventionally performed by scanning a domain with a portable scalar magnetic sensor. Unfortunately, scalar magnetometers are expensive, power consuming and bulky. In many applications, calibrated vector magnetometers…

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…

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…

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…

Visual navigation devices require precise calibration to achieve high-precision localization and navigation, which includes camera and attitude calibration. To address the limitations of time-consuming camera calibration and complex…

Air-bearing platforms for simulating the rotational dynamics of satellites require highly precise ground truth systems. Unfortunately, commercial motion capture systems used for this scope are complex and expensive. This paper shows a novel…

Magnetic monitoring of maritime environments is an important problem for monitoring and optimising shipping, as well as national security. New developments in compact, fibre-coupled quantum magnetometers have led to the opportunity to…

The common approach to inertial sensor calibration for navigation purposes has been to model the stochastic error signals of individual sensors independently, whether as components of a single inertial measurement unit (IMU) in different…

Damage in infrastructure is often hidden until it becomes costly or dangerous. Common examples include corrosion under insulation, early fatigue damage in steel, corrosion of embedded reinforcement, and abnormal current flow in batteries…

Inertial measurement unit (IMU) and odometer have been commonly-used sensors for autonomous land navigation in the global positioning system (GPS)-denied scenarios. This paper systematically proposes a versatile strategy for self-contained…

Magnetometer has received wide applications in attitude determination and scientific measurements. Calibration is an important step for any practical magnetometer use. The most popular three-axis magnetometer calibration methods are…

In the present work we develop an algorithm for calibrating MEMS sensors, which accounts for the nonorthogonality of the accelerometers' axis, as well as for the constant bias and scaling errors. We derive an explicit formula for computing…

We introduce a vector atomic magnetometer that employs a fast-rotating magnetic field applied to a pulsed $^{87}$Rb scalar atomic magnetometer. This approach enables simultaneous measurements of the total magnetic field and its two polar…

Harnessing the potential of quantum sensors to assist in navigation requires enabling their operation in complex, dynamic environments and integrating them within existing navigation systems. While cross-couplings from platform dynamics…

Developing practical quantum technologies will require the exquisite manipulation of fragile systems in a robust and repeatable way. As quantum technologies move towards real world applications, from biological sensing to communication in…

This paper proposes a new approach, the symmetric-reciprocal-match (SRM) method, for calibrating vector network analyzers (VNAs). The method involves using multiple symmetric one-port loads, a two-port reciprocal device, and a matched load.…