Application of MEMS sensor in navigation is increasingly becoming important due to its advantages in terms of the quickly improving precision, robustness, high dynamic response and lower costs of development and usage. Moreover by employing the optimal estimation technique of Kalman filtering, the performance of MEMS based INS has been greatly enhanced by the integration of GNSS. This paper foc...

Single gimballed Control Moment Gyroscopes (SGCMGs) are proposed as torque actuators that can effectively answer the attitude control requirements of future spacecraft. The kinematic properties of SGCMGs are reviewed, existing steering laws are summarized, and the structure of singular surfaces are examined for a 4-CMG pyramid-mounted array. A guided depth-first search that manages null motion ...

This paper presents the performance evaluation of our wireless miniature Inertial Measurement Unit (IMU) WB-4 by compared with the Vicon motion capture system. In particular, a magnetic field calibration method is introduced to improve the sensor orientation estimate accuracy. The WB-4 IMU primarily contains a motherboard for motion sensing, a Bluetooth module for wireless data transmission wit...

In this paper, we propose a novel solution for the low-cost indoor localization and tracking problem using radio signal strength indicator, Inertial Measurement Unit (IMU), and magnetometer sensors available in smart handheld devices such as smartphones. The proposed algorithm does not require any sensor calibration and performs real-time. We develop a novel probabilistic IMU motion model as th...

The mitigation of NLOS (non-line-of-sight) propagation conditions is one of main challenges in wireless signals based indoor localization. When RFID localization technology is applied in applications, RSS fluctuates frequently due to the shade and multipath effect of RF signal, which could result in localization inaccuracy. In particularly, when tags carriers are walking in LOS (line-of-sight) ...

The use of walking aids is prevalent among older people and people with mobility impairment. Rollators are designed to support outdoor mobility and require the user to negotiate curbs and slopes in the urban environment. Despite the prevalence of rollators, analysis of their use outside of controlled environments has received relatively little attention. This Letter reports on an initial study ...

In this research, a new Map/INS/Wi-Fi integrated system for indoor location-based service (LBS) applications based on a cascaded Particle/Kalman filter framework structure is proposed. Two-dimension indoor map information, together with measurements from an inertial measurement unit (IMU) and Received Signal Strength Indicator (RSSI) value, are integrated for estimating positioning information....

Dual-frequency Global Positioning System (GPS) Real-time Kinematics (RTK) has been proven in the past few years to be a reliable and efficient technique to obtain high accuracy positioning. However, there are still challenges for GPS single-frequency RTK, such as low reliability and ambiguity resolution (AR) success rate, especially in kinematic environments. Recently, multi-Global Navigation S...

This paper describes the development of an unmanned aerial vehicle (UAV) system, which will be used to demonstrate multiple-vehicle flight control algorithms. Planned demonstrations include vehicle coordination experiments involving autonomous air, ground, and marine vehicles. More immediately, a system of two UAVs will be used to demonstrate adaptive visual tracking algorithms. To speed develo...