We investigate stochastic averaging on the infinite time interval for a class of continuous-time nonlinear systems with stochastic perturbation and remove or weaken several restrictions present in existing results: global Lipschitzness of the nonlinear vector field, equilibrium preservation under the stochastic perturbation, global exponential stability of the average system, and compactness of...

Rotation angle estimates are often required and applied to the dynamics of spacecraft, UAVs, robots, underwater vehicles, other systems before control. IMU is an electronic module that used as estimation tool but has noise can reduce accuracy estimation. This study aims develop model for rotation a rigid body based on IMU-gyroscope sensor smartphone using Kalman filter. The developed in simple ...

We describe a novel quadrotor micro air vehicle (MAV) system that is designed to use computer vision algorithms within the flight control loop. One main contribution is the integration of a powerful onboard computer which is a necessity for running state-of-the-art computer vision algorithms with real-time constraints. The system also features IMU-Vision synchronization by hardware time stampin...

In this paper, we propose a new visual-inertial Simultaneous Localization and Mapping (SLAM) algorithm. With the tightly coupled sensor fusion of a global shutter monocular camera and a low-cost Inertial Measurement Unit (IMU), this algorithm is able to achieve robust and real-time estimates of the sensor poses in unknown environment. To address the real-time visual-inertial fusion problem, we ...

For indoor pedestrian navigation with a shoe-mounted inertial measurement unit (IMU), the zero velocity update (ZUPT) technique is implemented to constrain the sensors’ error. ZUPT uses the fact that a stance phase appears in each step at zero velocity to correct IMU errors periodically. This paper introduces three main contributions we have achieved based on ZUPT. Since correct stance phase de...