Proceedings ArticleDOI
Inertial navigation aided with GPS information
Eduardo Nebot,Salah Sukkarieh,Hugh Durrant-Whyte +2 more
- pp 169-174
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TLDR
In this paper, an indirect Kalman filter approach is used to fuse high frequency inertial information with low frequency GPS data to predict high frequency manoeuvres as well as detect multipath errors in the GPS information.Citations
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Integrated longitudinal and lateral tire/road friction modeling and monitoring for vehicle motion control
Li Li,Fei-Yue Wang,Qunzhi Zhou +2 more
TL;DR: A review of recent developments and trends in tire/road friction modeling is presented, with attempts to provide a broad perspective of the initiatives and multidisciplinary techniques for related research.
Journal ArticleDOI
Ground based sensing systems for autonomous agricultural vehicles
TL;DR: In this article, ground-based (as opposed to satellite-based) sensing methods for vehicle position fixing are examined in various categories, motion measurement (odometry, inertial), artificial landmarks (laser positioning, millimetre wave radar), and local feature detection (sonar, machine vision).
Journal ArticleDOI
A Low-Cost, Redundant Inertial Measurement Unit for Unmanned Air Vehicles:
TL;DR: The development of a low-cost, redundant, strapdown inertial measurement unit (IMU), which comprises four ceramic vibrating structure gyroscopes and four QLC 400 accelerometers configured on a truncated tetrahedron design, is discussed.
Journal ArticleDOI
Accurate Human Navigation Using Wearable Monocular Visual and Inertial Sensors
TL;DR: A novel visual-inertial integration system for human navigation in free-living environments, where the measurements from wearable inertial and monocular visual sensors are integrated, and an adaptive-frame rate single camera is selected to not only avoid motion blur based on the angular velocity and acceleration after compensation, but also to make an effect called visual zero-velocity update for the static motion.
Journal ArticleDOI
3D Position Tracking in Challenging Terrain
Pierre Lamon,Roland Siegwart +1 more
TL;DR: How the accuracy of 3D position tracking can be improved by considering rover locomotion in rough terrain as a holistic problem is demonstrated and sensor fusion using 3D-Odometry, inertial sensors and visual motion estimation based on stereovision is presented.
References
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Proceedings ArticleDOI
Dead reckoning for a lunar rover on uneven terrain
Y. Fuke,Eric Krotkov +1 more
TL;DR: A complementary Kalman filter is derives that fuses accelerometer and rate gyro data to increase the accuracy of dead reckoning on uneven terrain and presents empirical demonstrations on the effectiveness of the new method with mobile robot traverses over crater ground.
Proceedings ArticleDOI
Experiments in autonomous underground guidance
Steve Scheding,Eduardo Nebot,M. Stevens,Hugh Durrant-Whyte,Jonathan Roberts,Peter Corke,J. Cunningham,B. Cook +7 more
TL;DR: An experimental program for evaluating sensors and sensing technologies in an underground mining applications to infer what combinations of sensors will provide reliable navigation systems for autonomous vehicles operating in a harsh underground environment.
Proceedings ArticleDOI
Slip modelling and aided inertial navigation of an LHD
TL;DR: The particular contributions of this paper are in designing the navigation system to be able to cope with vehicle slip in rough uneven terrain using information from an inertial navigation system (INS) and a bearing only laser.
Proceedings ArticleDOI
GPS/INS integration on the Standoff Land Attack Missile (SLAM)
G. Hyslop,D. Gerth,J. Kraemer +2 more
TL;DR: The GPS/INS avionics and software integration used for SLAM are described in detail, along with some of the design tradeoffs that led to the approach.
Journal ArticleDOI
Navigation system for LHD machines
TL;DR: In this article, the authors present techniques developed to automatize the work of load, haul and dump (LHD) machines in mines to carry ore from loading point to dumping point.