Marine craft feedback control systems typically require estimates of position, velocity and heading where the wave-induced motions should be suppressed. This paper presents a strapdown inertial navigation system with adaptive wave filtering. Wave filtering based on inertial navigation systems differ from previous vesselmodel-based designs which require knowledge of vessel parameters and mathema...

We consider a left-invariant dynamics on an arbitrary Lie group. We show that it is possible, when the output map is right-left equivariant, to build non-linear observers such that the error equation is autonomous. The theory is illustrated by an inertial navigation example.

In this paper, we present a model-based observer for inertial navigation of quadrotors and other multirotor aircraft. We include in our model a Coriolis term that has been neglected in prior work. Doing so allows us to estimate the entire velocity vector in the quadrotor’s frame of reference—including along the z-axis of this frame—with data only from a low-cost inertial measurement unit (IMU):...

In this paper, we present a generic framework for urban vehicle navigation using a topological map. This map is built by taking into account the non-holonomic behaviour of the vehicle. After a localization step, a sensory route is extracted to reach a goal. This route is followed using a sensor-based control strategy, based on the vehicle model and computed from the state extracted from the cur...

Estimability measures and their application to GPS/INS Jeong Hyun Moon, Sinpyo Hong, Ho-Hwan Chun and Man Hyung Lee Department of Mechanical and Intelligent Systems Engineering, Pusan National University General Marine Business Inc, Ulsan 680-819, Korea Department of Naval Architecture and Ocean Engineering, Pusan National University School of Mechanical Engineering, Pusan National University, ...

Navigation devices for cars are ubiquitous and become increasingly popular for motorcyclists as well. The motorcycle navigation devices were optimized for motorcyclists regarding their range of functions, but the interaction with these navigation devices are not optimized for motorcyclists. In this thesis, we explore vibrotactile feedback for motorcycle navigation. We evaluated the vibration th...

Abstract This paper presents a new robust adaptive filtering method for SINS/SAR (Strap-down Inertial Navigation System / Synthetic Aperture Radar) integrated navigation system. This method adopts the principle of robust estimation to adaptive filtering of observational data. A robust adaptive filter is developed to adaptively determine the covariance matrix of observation noise, and adaptively...

Indoor navigation differs from outdoor navigation in several significant ways. In particular, precise localization usually requires an expensive infrastructure whereas outdoors, GPS offers an inexpensive and widely available solution. In addition, indoor environments frequently include several floors and can be relatively complex and thus difficult to navigate for people unfamiliar with such bu...

In this paper, a novel method for vision-aided navigation based on trifocal tensor is presented. The main goal of the proposed method is to provide position estimation in GPS-denied environments for vehicles equipped with a standard inertial navigation systems(INS) and a single camera only. We treat the trifocal tensor as the measurement model, being only concerned about the vehicle state and d...

Three models of SGGs with increasing complexity and sensitivity have been developed at Maryland [Chan et al., 1987; Moody et al., 2002]. The Model II SGG has reached an operating sensitivity of 0.02 E Hz (1 E ≡ 1 Eötvös ≡ 10 s), three orders of magnitude improvement over the sensitivity achieved by room-temperature gradiometers. With such vastly improved sensitivity, the SGG finds useful applic...