Proceedings ArticleDOI
Initial calibration and alignment of an inertial navigation
Eduardo Nebot,H. Durrant-Whyte +1 more
- pp 175-180
Reads0
Chats0
TLDR
In this paper, an efficient initial calibration and alignment algorithm for a six-degree of freedom inertial navigation unit is presented, which is able to obtain accurate position and velocity information for a significant period of time using an inertial measurement unit as the only sensor.Citations
More filters
Journal ArticleDOI
Relative Pose Calibration Between Visual and Inertial Sensors
Jorge Lobo,Jorge Dias +1 more
TL;DR: This paper proposes an approach to calibrate off-the-shelf cameras and inertial sensors to have a useful integrated system to be used in static and dynamic situations.
Journal ArticleDOI
Accelerometer Calibration and Dynamic Bias and Gravity Estimation: Analysis, Design, and Experimental Evaluation
TL;DR: This paper details the calibration of an accelerometer unit and presents also a dynamic filtering solution for the bias, which also includes the estimation of the gravity in body-fixed coordinates.
Journal ArticleDOI
Design and analysis of a sun sensor for planetary rover absolute heading detection
Ashitey Trebi-Ollennu,Terry Huntsberger,Yang Cheng,Eric T. Baumgartner,Brett Kennedy,Paul S. Schenker +5 more
TL;DR: Results of a recent FIDO field trial and several operations readiness tests at the JPL MarsYard using the sun sensor have demonstrated threefold to fourfold improvement in the heading estimation of the rover compared to incremental odometry.
Journal ArticleDOI
Error Analysis and Gyro-Bias Calibration of Analytic Coarse Alignment for Airborne POS
Jianli Li,Jiancheng Fang,Min Du +2 more
TL;DR: A novel analytic calibration of gyro biases with arbitrary double position is proposed and results show that the method can accurately calibrate the gyro bias, improve the precision of initial alignment and inertial navigation for SINS, and verify the efficiency of the proposed method.
Journal ArticleDOI
A high integrity navigation architecture for outdoor autonomous vehicles
Eduardo Nebot,Hugh Durrant-Whyte +1 more
TL;DR: A new navigation system structure is introduced which is capable of detecting faults in any combination of navigation sensors and a decentralised architecture is presented for the fusion of information from different asynchronous sources.
References
More filters
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
Inertial navigation aided with GPS information
TL;DR: 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.
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.
Related Papers (5)
A multi-position self-calibration method for dual-axis rotational inertial navigation system
Analytic Coarse Transfer Alignment Based on Inertial Measurement Vector Matching and Real-Time Precision Evaluation
Jiazhen Lu,Lili Xie,Baoguo Li +2 more