This paper presents a tightly integrated navigation system combining global positioning system (GPS) and inertial-based simultaneous localization and mapping (SLAM) for UAV platforms. GPS raw measurements, called pseudorange and pseudorange rate, are directly fused to an inertial SLAM filter. A compressed form of unscented filtering is implemented by partitioning the map into a local and global...

From the few evaluations of adaptive navigation systems that have been performed, we see an emerging pattern where depending upon the domain, only certain types of adaptive navigation works. The results indicate that adaptations should leave the interface somewhat predictable, it should not force users to interpret advanced annotations, and finally, the adaptation should not change the structur...

Dr Jian Wang is currently a Visiting Fellow at the School of Surveying & Spatial Information Systems, University of New South Wales (UNSW). He graduated with a PhD from the China University of Mining & Technology (CUMT) in 2006. His area of expertise is in the field of GNSS/INS integration with special emphasis on the quality control of navigation. He also focuses on the studies of wavelet theo...

New approaches to the development of data fusion algorithms for inertial network systems are described. The aim of this development is to increase the accuracy of estimates of inertial state vectors in all the network nodes, including the navigation states, and also to improve the fault tolerance of inertial network systems. An analysis of distributed inertial sensing models is presented and ne...

Combining INS and GPS data by means of Kalman filtering only suppresses sensor noise in a limited frequency band. This paper describes a filtering methodology that allows optimal elimination of the inertial sensor noise over the whole frequency band of interest. It accommodates a model for short-term inertial errors that is especially applicable to ring-laser and fiber optic gyro technologies. ...

This paper aims to bring together Global Positioning System (GPS) and Inertial Navigation System (INS) integration approach for data fusing using wavelet analysis. The wavelet is employed to compare the sensors outputs at different resolution levels and for several types of errors in INS and GPS as well as to smooth and predict the INS errors. Simulation results show that, the types of filters ...

This paper presents a pedestrian indoor navigation system based on the multi-sensor fusion and fuzzy logic estimation algorithms. The proposed navigation system is a self-contained dead reckoning navigation that means no other outside signal is demanded. In order to achieve the self-contained capability, a portable and wearable inertial measure unit (IMU) has been developed. Its adopted sensors...

We present a novel method to improve the robustness of real-time 3D surface reconstruction by incorporating inertial sensor data when determining inter-frame alignment. With commodity inertial sensors, we can significantly reduce the number of iterative closest point (ICP) iterations required per frame. Our system is also able to determine when ICP tracking becomes unreliable and use inertial n...

The transverse navigation system has been designed and developed to solve the challenges of navigation in polar regions. However, considerable theoretical errors are introduced into the system when the spherical Earth model is adopted. To tackle this problem, a transverse navigation mechanism under the ellipsoidal Earth model has been proposed in this research and the application regions of the...

The increasing civilian demand for autonomous aerial vehicle platforms in both hobby and professional markets has resulted in an abundance of inexpensive inertial navigation systems and hardware. Many of these systems lack full autonomy, relying on the pilot’s guidance with the assistance of inertial sensors for guidance. Autonomous systems depend heavily on the use of a global positioning sate...