For low-cost and continuous indoor navigation, an INS/Wi-Fi (inertial navigation system/Wi-Fi) integrated system is expected to yield a synergetic effect resulting in higher navigation performance than using the standalone systems. In this paper, the authors explore the integration of Wi-Fi measurements with data from microelectromechanical systems based inertial measurement unit for indoor veh...

This paper focuses on accuracy and other technology trends for inertial sensors, Global Positioning Systems (GPS), and integrated Inertial Navigation System (INS)/GPS systems, including considerations of interference, that will lead to better than 1 meter accuracy navigation systems of the future. For inertial sensors, trend-setting sensor technologies will be described. A vision of the inertia...

In this paper, we present a model-based observer for inertial navigation of quadrotors and other multirotor aircraft. We include in our model a Coriolis term that has been neglected in prior work. Doing so allows us to estimate the entire velocity vector in the quadrotor’s frame of reference—including along the z-axis of this frame—with data only from a low-cost inertial measurement unit (IMU):...

In this paper, we present a generic framework for urban vehicle navigation using a topological map. This map is built by taking into account the non-holonomic behaviour of the vehicle. After a localization step, a sensory route is extracted to reach a goal. This route is followed using a sensor-based control strategy, based on the vehicle model and computed from the state extracted from the cur...

Estimability measures and their application to GPS/INS Jeong Hyun Moon, Sinpyo Hong, Ho-Hwan Chun and Man Hyung Lee Department of Mechanical and Intelligent Systems Engineering, Pusan National University General Marine Business Inc, Ulsan 680-819, Korea Department of Naval Architecture and Ocean Engineering, Pusan National University School of Mechanical Engineering, Pusan National University, ...

Navigation devices for cars are ubiquitous and become increasingly popular for motorcyclists as well. The motorcycle navigation devices were optimized for motorcyclists regarding their range of functions, but the interaction with these navigation devices are not optimized for motorcyclists. In this thesis, we explore vibrotactile feedback for motorcycle navigation. We evaluated the vibration th...

Abstract This paper presents a new robust adaptive filtering method for SINS/SAR (Strap-down Inertial Navigation System / Synthetic Aperture Radar) integrated navigation system. This method adopts the principle of robust estimation to adaptive filtering of observational data. A robust adaptive filter is developed to adaptively determine the covariance matrix of observation noise, and adaptively...

An Inertial Navigation System (INS) can easily track position, velocity and orientation of any moving vehicle. Generally, deterministic errors are present in an uncalibrated Inertial Measurement Unit (IMU) which leads to the requirement of an accurate estimation of navigation solution. These inertial sensors, thus, needs to be calibrated to reduce the error inherent in these systems. By mathema...

Indoor navigation differs from outdoor navigation in several significant ways. In particular, precise localization usually requires an expensive infrastructure whereas outdoors, GPS offers an inexpensive and widely available solution. In addition, indoor environments frequently include several floors and can be relatively complex and thus difficult to navigate for people unfamiliar with such bu...

In this paper, a novel method for vision-aided navigation based on trifocal tensor is presented. The main goal of the proposed method is to provide position estimation in GPS-denied environments for vehicles equipped with a standard inertial navigation systems(INS) and a single camera only. We treat the trifocal tensor as the measurement model, being only concerned about the vehicle state and d...