With recent advancements in Global Positioning Systems (GPS), localization systems are now typically equipped with a GPS. However, in a large variety of environments and real-world applications, GPS-based localization systems are not practical. This research tackles such a problem and illustrates the idea of fusing a camera and an inertial navigation system (INS) to create a dead reckoning loca...

Three models of SGGs with increasing complexity and sensitivity have been developed at Maryland [Chan et al., 1987; Moody et al., 2002]. The Model II SGG has reached an operating sensitivity of 0.02 E Hz (1 E ≡ 1 Eötvös ≡ 10 s), three orders of magnitude improvement over the sensitivity achieved by room-temperature gradiometers. With such vastly improved sensitivity, the SGG finds useful applic...

Mr. Songlai Han is a joint-training doctorate candidate at both the National University of Defense Technology, Changsha, China, and the University of New South Wales, Sydney, Australia. He received the B.S. degree in Electronic Science and Technology from Tianjin University, Tianjin, China in 2003, and received the M.S. degree in Control Science and Technology from the National University of De...

In this paper we present a direct Kalman filtering approach for GPS/INS integration. In the approach, GPS and INS non–linearities are preprocessed prior to a Kalman filter. The GPS preprocessed data are taken as measurement input, while the INS preprocessed data are taken as an additional information to the Kalman filter’s state prediction. The advantage of this approach is that a simple and li...

This paper presents stability analysis of fuzzy reactive navigation applied to the nonholonomic mobile robot ROMEO-3R. Reactive navigation approaches are emerging as an alternative to (or in combination with) planned schemes, but they usually present worse dynamic performance (oscillations are very common in these techniques). Influence of the own reactive navigation parameters (such as sensor ...

This paper proposes an aiding technique to enhance error estimation in low-cost strapdown inertial navigation systems with application to Unmanned Air Vehicles (UAVs). The paper summarizes a high-accuracy, multi-rate integrated Global Positioning System/Inertial Navigation System (GPS/INS) using Extended Kalman Filter (EKF) for error compensation. A proposed new technique decomposes and optimal...

Marine craft feedback control systems typically require estimates of position, velocity and heading where the wave-induced motions should be suppressed. This paper presents a strapdown inertial navigation system with adaptive wave filtering. Wave filtering based on inertial navigation systems differ from previous vesselmodel-based designs which require knowledge of vessel parameters and mathema...

This paper presents field tests of challenging flight applications obtained with a new family of lightweight low-power INS/GNSS (inertial navigation system/global satellite navigation system) solutions based on MEMS (micro-electro-mechanical- sensor) machined sensors, being used for UAV (unmanned aerial vehicle) navigation and control as well as for aircraft motion dynamics analysis and traject...