Due to the widely use of rotorcrafts in civil applications, highly accurate positioning is paid more attentions. The ultra-wide band (UWB) receiver plays a crucial role navigating unmanned aerial vehicle (UAV) indoor areas, because its low cost and power consumption. However, accuracy UWB drastically affected by infamous multipath effect. Therefore, Ultra Wideband (UWB)/Inertial Navigation Syst...

We present an efficient multi-sensor odometry system for mobile platforms that jointly optimizes visual, lidar, and inertial information within a single integrated factor graph. This runs in real-time at full framerate using fixed lag smoothing. To perform such tight integration, new method to extract 3D line planar primitives from lidar point clouds is presented. approach overcomes the subopti...

Several methods have recently been developed to solve multiphysics transients using the Improved Quasi-Static method and its derivatives. In order address some perceived drawbacks of these methods, we a new for solving transient calculations Predictor-Corrector method. Our involves computing reactivity feedback parameters during each transport timestep in enable on small timescale used by point...

The continuity and reliability of precise GNSS positioning can be seriously limited by severe user observation environments. The Inertial Navigation System (INS) can overcome such drawbacks, but its performance is clearly restricted by INS sensor errors over time. Accordingly, the tightly coupled integration of GPS and INS can overcome the disadvantages of each individual system and together fo...

The primary issue in defining an integration architecture is the ability to separate the concerns of each application component, while simultaneously creating an integrated system. This separation has several dimensions. Without this ability to separate the concerns, the resulting system will not only be tightly coupled and resist change and enhancement, but failures in one portion of the syste...