This paper addresses the recent development of real-time visual odometry system based on dual optical-flow systems and its integration to aided inertial navigation aiming for small-scale flying robots. To overcome the unknown depth information in optic-flows, a dual optic-flow system is developed. The flow measurements are then fused with a low-cost inertial sensor using an extended Kalman filt...

Integrated Service Navigation Framework for Ubiquitous Networking By Toshio TONOUCHI,* Norihito FUJITA,† Naoto MAEDA,* Tomohiro IGAKURA* and Yoshiaki KIRIHA† A huge amount of service components will soon be deployed to ubiquitous networks. Each will provide a simple service, but compositions of service components are expected to be highly valuable to users, because it is hard for users to find ...

In this paper, wavelet signal processing technique is applied to improving navigation signals. Low cost MEMS signals can be distorted with conventional pre-filtering method such as low-pass filtering which causes unwanted smoothing on real signals. However, wavelet thresholding method does not distort the rapidly-changing signal but reduces signal noise. This paper has applied thresholding meth...

Core to integrated navigation systems is the concept of fusing noisy observations from GPS, Inertial Measurement Units (IMU), and other available sensors. The current industry standard and most widely used algorithm for this purpose is the extended Kalman filter (EKF) [6]. The EKF combines the sensor measurements with predictions coming from a model of vehicle motion (either dynamic or kinemati...

In augmented reality, the position and orientation of the camera must be estimated very accurately. This paper will propose a filtering approach, similar to integrated navigation in aircraft, which is based on inertial measurements as primary sensor on which dead-reckoning can be based, and features in the image as supporting information to stabilize the dead-reckoning. The image features are c...

This paper presents a nonlinear numerical observer for accurate position, velocity and attitude (PVA) estimation including the accelerometer bias and gyro bias estimation. The Moving Horizon Observer (MHO) processes the accelerometer, gyroscope and magnetometer measurements from the Inertial Measurement Unit (IMU) and the position and velocity measurements from the Global Navigation Satellite S...

This technical report supplements the paper entitled ’Conceptual Navigation Analysis: a device and platform independent navigation specification’. It presents how a navigation analysis model can be integrated in two well-known user-centered conceptual modeling approaches, namely OO-H and UWE. Our aim with this integration process is to illustrate how other user-oriented hypermedia modeling prop...

The Global Positioning System (GPS) and an Inertial Navigation System (INS) are two basic navigation systems. Due to their complementary characters in many aspects, a GPS/INS integrated navigation system has been a hot research topic in the recent decade. Both advantages and disadvantages of each individual system are analyzed. The Micro Electrical Mechanical Sensors (MEMS) successfully solved ...

This paper introduces a low cost INS/GPS algorithm for land vehicle navigation application. The data fusion process is done with an extended Kalman filter in cascade configuration mode. In order to perform numerical simulations, MATLAB software has been developed. Loosely coupled configuration is considered. The results obtained in this work demonstrate that a low-cost INS/GPS navigation system...