Although GPS measurements are the essential information for currently developed land vehicle navigation systems (LVNS), the situation when GPS signals are unavailable or unreliable due to signal blockages must be compensated to provide continuous navigation solutions. In order to overcome the unavailability or unreliability problem in satellite based navigation systems and also to be cost effec...

GPS receivers are widely used in navigation and positioning, due to the global availability of GPS signals, its low cost and low power consumption. However, it does not work sufficiently in all signal environments. This raises the need to integrate GPS with other sensor systems (for instance, the inertial navigation system (INS)) to have a robust, continuous navigation solution regardless of th...

The possibility of fusion of navigation data obtained by two separate navigation systems (strapdown inertial one and dynamic vision based one) is considered in this paper. The attention is primarily focused on principles of validation of separate estimates before their use in a combined algorithm. The inertial navigation system (INS) based on sensors of medium level quality has been analyzed on...

We present a novel method to improve the robustness of real-time 3D surface reconstruction by incorporating inertial sensor data when determining inter-frame alignment. With commodity inertial sensors, we can significantly reduce the number of iterative closest point (ICP) iterations required per frame. Our system is also able to determine when ICP tracking becomes unreliable and use inertial n...

Reliable information about position and attitude is an essential requirement for many applications. The work expounded in this paper aims at a tight integration of low-cost inertial navigation and stereo vision to obtain this information. The method I present here is based on passive measurements and does not rely on external referencing. Thus, it provides a navigation solution for unknown indo...

Indoor pedestrian navigation suffers from the unavailability of useful GNSS signals for navigation. Often a low-cost non-GNSS inertial sensor is used to navigate indoors. However, using only a low-cost inertial sensor for the system degrades its performance due to the low observability of errors affecting such low-cost sensors. Of particular concern is the heading drift error, caused primarily ...

Positioning, navigation, and timing (PNT) is a strategic key technology widely used in military and civilian applications. Global navigation satellite systems (GNSS) are the most important PNT techniques. However, the vulnerability of GNSS threatens PNT service quality, and integrations with other information are necessary. A chip scale atomic clock (CSAC) provides high-precision frequency and ...

The concept and results of integration of a strap-down inertial navigation system (INS) based on low-accuracy inertial sensors and the global positioning system (GPS) have been presented in this paper. This system is aimed for the purposes of navigation, automatic control, and remote tracking of land vehicles. The integration is made by the implementation of an extended Kalman filter (EKF) sche...

For low-cost and continuous indoor navigation, an INS/Wi-Fi (inertial navigation system/Wi-Fi) integrated system is expected to yield a synergetic effect resulting in higher navigation performance than using the standalone systems. In this paper, the authors explore the integration of Wi-Fi measurements with data from microelectromechanical systems based inertial measurement unit for indoor veh...

Precise real-time information about the position and orientation of robotic platforms as well as locally consistent point-clouds are essential for control, navigation, and obstacle avoidance. For years, GPS has been the central source of navigational information in airborne applications, yet as we aim for robotic operations close to the terrain and urban environments, alternatives to GPS need t...