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A high-precision image-aided inertial navigation system (INS) is proposed as an alternative to the carrier-phase-based differential Global Navigation Satellite Systems (CDGNSSs) when satellite-based navigation systems are unavailable. In this paper, the image/INS integrated algorithm is modeled by a tightly-coupled iterative extended Kalman filter (IEKF). Tightly-coupled integration ensures tha...

The objective of the Robot Work Crew (RWC) project is to investigate key challenges in multi-robot coordination when performing tightly coupled coordination tasks such as transporting and handling of long objects on challenging planetary terrain. In this paper, we focus on tightly coupled coordination of two Mars rovers transporting a long payload. We have developed practical decentralized comp...

In this paper, we propose for the first time a novel feed approach to tightly coupled dipole array (TCDA). Firstly, compact zigzagging microstrip feedlines are utilized as baluns our elements obtain wideband impedance-matching characteristics. Secondly, is designed on ultrathin substrates aiming at obtaining ultra-tight coupling between arms of two neighboring elements. Some irreplaceable paras...

This letter presents an incremental voxel-based lidar-inertial odometry (LIO) method for fast-tracking spinning and solid-state lidar scans. To achieve the high tracking speed, we neither use complicated tree-based structures to divide spatial point cloud nor strict k nearest neighbor (k-NN) queries compute matching. Instead, voxels (iVox) as our data structure, which is modified from tradition...

In autonomous applications for mobility and transport, a high-rate highly accurate vehicle-state estimation is achieved by fusing measurements of global navigation satellite systems (GNSS) inertial sensors. The state its protection-level generation often suffer from satellite-signal disturbances in urban environments subsequent poor parametrization the observables. Thus, we propose an innovativ...