Bayes filters, such as the Kalman and particle filters, have been used in sensor fusion to integrate two sources of information and obtain the best estimate of unknowns. The efficient integration of multiple sensors requires deep knowledge of their e...
Inertial measurement units (IMUs) are key components of various applications including navigation, robotics, aerospace, and automotive systems. IMU sensor characteristics have a significant impact on the accuracy and reliability of these applications...
We address the angular misalignment calibration problem, which arises when a multi-antenna GNSS serves as a source of aiding information for inertial sensors in an integrated navigation system. Antennas usually occupy some outside structure of the mo...
High−precision and robust localization is critical for intelligent vehicle and transportation systems, while the sensor signal loss or variance could dramatically affect the localization performance. The vehicle localization problem in an envir...
Recent developments in sensor technologies such as Global Navigation Satellite Systems (GNSS), Inertial Measurement Unit (IMU), Light Detection and Ranging (LiDAR), radar, and camera have led to emerging state-of-the-art autonomous systems, such as d...
Agricultural robots have demonstrated significant potential in enhancing farm operational efficiency and reducing manual labour. However, unstructured and complex farm environments present challenges to the precise localisation and navigation of robo...
This paper presents a novel multi-sensor system for enhanced maneuver analysis in Olympic dinghy sailing. In the ILCA class, there is an increasing demand for precise in-field measurement and analysis of physical properties beyond well-established ve...
The goal of this study is to determine the feasibility of a wearable multi-sensor positioning prototype to be used as a training tool to evaluate rowing technique and to determine the positioning accuracy using multiple mathematical models and estima...
The paper presents the development of the IMUMETER sensor, designed to study the dynamics of aircraft movement, in particular, to measure the ground performance of the aircraft. A motivation of this study was to develop a sensor capable of airplane m...
The development of control strategies for autonomous vehicles requires a reliable and cost-effective validation approach. In this context, testbeds enabling repeatable experiments under controlled conditions are gaining relevance. Scaled vehicles hav...
Self-localization and state estimation are crucial capabilities for agile drone autonomous navigation. This article presents a lightweight and drift-free vision-IMU-GNSS tightly coupled multisensor fusion (LDMF) strategy for drones’ autonomous...
The Five-hundred-meter Aperture Spherical Telescope (FAST), as the world’s most sensitive single-dish radio telescope, necessitates highly accurate positioning of its feed cabin to utilize its full observational potential. Traditional positioni...
Currently Global Navigation Satellite Systems (GNSSs) are the primary source for the determination of absolute position, navigation, and time (PNT) for merchant vessel navigation. Nevertheless, the performance of GNSSs can strongly degrade due to spa...
With the rapid growth in smartphone technologies and improvement in their navigation sensors, an increasing amount of location information is now available, opening the road to the provision of new Intelligent Transportation System (ITS) services. Cu...
The rise of autonomous systems operating close to humans imposes new challenges in terms of robustness and precision on the estimation and control algorithms. Approaches based on nonlinear optimization, such as moving horizon estimation, have been sh...
Integration of the Global Navigation Satellite System (GNSS), with Inertial Measurement Unit (IMU) sensors to improve navigation performance, is widely used in many land-based applications. However, further application, especially in urban areas, is...
Precise and robust localization in a large-scale outdoor environment is essential for an autonomous vehicle. In order to improve the performance of the fusion of GNSS (Global Navigation Satellite System)/IMU (Inertial Measurement Unit)/DMI (Distance-...
This paper accompanies the initial public release of the EDI multi-modal SLAM dataset, a collection of long tracks recorded with a portable sensor package. These include two global shutter RGB camera feeds, LiDAR scans, as well as inertial and GNSS d...
This paper presents a heading alignment procedure for drone navigation employing a single hover GNSS antenna combined with low-grade MEMs-IMU sensors. The design was motivated by the need for a drone-mounted differential interferometric SAR (DinSAR)...
Researchers are currently conducting several studies in the field of navigation systems and sensors. Even in the past, there was a lot of research regarding the field of velocity sensors for unmanned underwater vehicles (UUVs). UUVs have various serv...
To clearly highlight the differences between the error overboundings of error-state EKFs and full-state EKFs [...]
High-integrity information about the vehicle’s dynamic state, including position and heading (yaw angle), is required in order to implement automated driving functions. In this work, a comparison of three integrity algorithms for the vehicle dynamic...
With the development of advanced driver assistance systems (ADAS) and autonomous vehicles (AV), recent years have seen an increasing evolution of onboard sensors and communication interfaces capable of interacting with available infrastructures, incl...
Flight height is a fundamental parameter for correcting the gamma signal produced by terrestrial radionuclides measured during airborne surveys. The frontiers of radiometric measurements with UAV require light and accurate altimeters flying at some 1...
Our aims were to evaluate the feasibility of a framework based on micro-sensor technology for in-field analyses of performance and sub-technique selection in Para cross-country (XC) skiing by using it to compare these parameters between elite standin...
This paper presents a human-carried mapping backpack based on a pair of Velodyne LiDAR scanners. Our system is a universal solution for both large scale outdoor and smaller indoor environments. It benefits from a combination of two LiDAR scanners, wh...
avigation and location technologies are continually advancing, allowing ever higher accuracies and operation under ever more challenging conditions. The development of such technologies requires the rapid evaluation of a large number of sensors and r...
The accuracy of satellite positioning results depends on the number of available satellites in the sky. In complex environments such as urban canyons, the effectiveness of satellite positioning is often compromised. To enhance the positioning accurac...
Micro-electro-mechanical-systems (MEMS) inertial measurement unit (IMU) outputs are corrupted by significant sensor errors. The navigation errors of a MEMS-based inertial navigation system will therefore accumulate very quickly over time. This requir...
Nowadays, many precision farming applications rely on the use of GNSS-RTK. However, when it comes to autonomous agricultural vehicles, GNSS cannot be used as a stand-alone system for positioning. To ensure high availability and robustness of the posi...
When satellite navigation terminal sensors encounter malicious signal spoofing or interference, if attention is not paid to improving their anti-spoofing ability, the performance of the sensors will be seriously affected. The global navigation satell...
This study presents the filter design of GNSS/IMU integration for wearable EPTS (Electronic Performance and Tracking System) of football players. EPTS has been widely used in sports fields recently, and GNSS (Global Navigation Satellite System) and I...
Most existing mobile LIDAR measurement systems use a GNSS/INS combination method for attitude positioning. This method requires a constant GNSS signal to correct the IMU’s positioning and attitude. In the absence of GNSS signals, the IMU’...
Low-cost MEMS-based IMUs, video cameras and portable GNSS devices are commercially available for automotive applications and some manufacturers have already integrated such facilities into their vehicle systems. GNSS provides positioning, navigation...
Global navigation satellite system (GNSS) spoofing poses a significant threat to maritime logistics. Many maritime electronic devices rely on GNSS time, positioning, and speed for safe vessel operation. In this study, inertial measurement unit (IMU)...
Hyperspectral remote sensing provides a wealth of data essential for vegetation studies encompassing a wide range of applications (e.g., species diversity, ecosystem monitoring, etc.). The development and implementation of UAV-based hyperspectral sys...
With the increasingly widespread application of UAV intelligence, the need for autonomous navigation and positioning is becoming more and more important. To solve the problem that UAV cannot perform localization in complex scenes, a new multi-source...
The requirement to estimate the six degree-of-freedom pose of a moving platform frequently arises in automation applications. It is common to estimate platform pose by the fusion of global navigation satellite systems (GNSS) measurements and translat...
One of the core issues of mobile measurement is the pose estimation of the carrier. The classic Global Navigation Satellite System/Inertial Measurement Unit (GNSS/IMU) integrated navigation scheme has high positioning accuracy but is vulnerable to Gl...
In the field of Global Navigation Satellite System (GNSS) attitude determination, the constraints usually play a critical role in resolving the unknown ambiguities quickly and correctly. Many constraints such as the baseline length, the geometry of m...
To regulate the energy flow in orchard ecosystems and maintain the environment, weeding has become a necessary measure for fruit farmers, and the use of automated mowers can help reduce labor costs and improve the economic efficiency of orchards. How...
The Unaided Single Frequency/Single Epoch Global Navigation Satellite System (SF/SE GNSS) model is the most challenging scenario for ambiguity resolution in the GNSS attitude determination application. To improve the performance of SF/SE-GNSS ambigui...
Today, navigation systems are commonly used in a variety of applications such as autonomous vehicles, image stabilization, object detection and tracking, and virtual reality (VR) or artificial reality (AR) systems. These systems require not only the...
The rapid rise of ultra-low-cost dual-frequency GNSS chipsets and micro-electronic-mechanical-system (MEMS) inertial sensors makes it possible to develop low-cost navigation systems, which meet the requirements for many applications, including self-d...
The ESA DIVERGENCE (Diversity Architecture for Robust GNSS Receivers in Launcher Applications) project is focused on the design of a GNSS/INS hybrid navigation system and an appropriate FDIR/FDE algorithm for GNC applications in launchers and re-entr...
Recent study indicates that by using the inertial measurement unit (IMU) sensors inside smartphones, we can obtain similar navigation solutions to the professional ones. However, the sampling rates of the gyros and accelerometers inside some types of...
Nowadays, navigation systems are becoming common in the automotive industry due to advanced driver assistance systems and the development of autonomous vehicles. The MPU-6000 is a popular ultra low-cost Microelectromechanical Systems (MEMS) inertial...
In this paper, we proposed a multi-sensor integrated navigation system composed of GNSS (global navigation satellite system), IMU (inertial measurement unit), odometer (ODO), and LiDAR (light detection and ranging)-SLAM (simultaneous localization and...
This paper proposes an efficient multi-sensor system to complement GNSS (Global Navigation Satellite System) for improved positioning in urban area. The proposed system augments GNSS by low-cost MEMS IMU (Micro Electro Mechanical Systems Inertial Mea...
The question of how to estimate the state of an unmanned aerial vehicle (UAV) in real time in multi-environments remains a challenge. Although the global navigation satellite system (GNSS) has been widely applied, drones cannot perform position estim...
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