An accurate calibration of inertial measurement unit errors is increasingly important as the inertial navigation system requirements become more stringent. Developing calibration methods that use as less as possible of IMU signals has 6-DOF gimballed IMU in space-stabilized mode is presented. It is considered as held stationary in the test location incorporating 15 di...

In scenarios with insufficient structural features, LiDAR-based SLAM may suffer from degeneracy, resulting in impaired robot localization and mapping potentially leading to subsequent deviant navigation tasks. Therefore, it is crucial develop advanced algorithms techniques mitigate the degeneracy issue ensure robustness accuracy of SLAM. This paper presents a LiDAR–inertial simultaneous (SLAM) ...

In this paper, with the aim of estimating internal dynamics matrix of a gimbaled Inertial Navigation system (as a discrete Linear system), the discretetime Hamilton-Jacobi-Bellman (HJB) equation for optimal control has been extracted. Heuristic Dynamic Programming algorithm (HDP) for solving equation has been presented and then a neural network approximation for cost function and control input ...

We derive an exact deterministic nonlinear observer to compute the continuous state of an inertial navigation system based on partial discrete measurements, the so-called strap-down problem. Nonlinear contraction is used as the main analysis tool, and the hierarchical structure of the system physics is systematically exploited. The paper also discusses the use of nonlinear measurements, such as...

— The light-pulse atom interferometry method is reviewed. Applications of the method to inertial navigation and tests of the Equivalence Principle are discussed.