Contact-aided invariant extended Kalman filtering for robot state estimation
Legged robots require knowledge of pose and velocity in order to maintain stability and
execute walking paths. Current solutions either rely on vision data, which is susceptible to …
execute walking paths. Current solutions either rely on vision data, which is susceptible to …
Invariant extended kalman filtering for underwater navigation
ER Potokar, K Norman… - IEEE Robotics and …, 2021 - ieeexplore.ieee.org
Recent advances in the utilization of Lie Groups for robotic localization have led to dramatic
increases in the accuracy of estimation and uncertainty characterization. One of the novel …
increases in the accuracy of estimation and uncertainty characterization. One of the novel …
Robust IMU/GPS/VO integration for vehicle navigation in GNSS degraded urban areas
Global Navigation Satellite Systems (GNSS) integrated with multiple sensors have been
widely applied in many Intelligent Transport Systems (ITS). Intelligent vehicles, increasingly …
widely applied in many Intelligent Transport Systems (ITS). Intelligent vehicles, increasingly …
Contact-aided invariant extended Kalman filtering for legged robot state estimation
R Hartley, MG Jadidi, JW Grizzle… - arXiv preprint arXiv …, 2018 - arxiv.org
This paper derives a contact-aided inertial navigation observer for a 3D bipedal robot using
the theory of invariant observer design. Aided inertial navigation is fundamentally a …
the theory of invariant observer design. Aided inertial navigation is fundamentally a …
Invariant observer design for a helicopter UAV aided inertial navigation system
M Barczyk, AF Lynch - IEEE Transactions on Control Systems …, 2012 - ieeexplore.ieee.org
The invariant observer is a recently introduced constructive nonlinear design method for
symmetry-possessing systems such as the magnetometer-plus-global positioning system …
symmetry-possessing systems such as the magnetometer-plus-global positioning system …
Invariant-EKF design for quadcopter wind estimation
H Chen, H Bai, CN Taylor - 2022 American Control Conference …, 2022 - ieeexplore.ieee.org
We consider a nonlinear estimation problem where a quadcopter moves in a wind field. We
show that the quadcopter dynamics is invariant under the action of a Lie group and design …
show that the quadcopter dynamics is invariant under the action of a Lie group and design …
Features of invariant extended Kalman filter applied to unmanned aerial vehicle navigation
This research used an invariant extended Kalman filter (IEKF) for the navigation of an
unmanned aerial vehicle (UAV), and compared the properties and performance of this IEKF …
unmanned aerial vehicle (UAV), and compared the properties and performance of this IEKF …
Unscented Kalman filters for Riemannian state-space systems
HMT Menegaz, JY Ishihara… - IEEE Transactions on …, 2018 - ieeexplore.ieee.org
Unscented Kalman filters (UKFs) have become popular in the research community. Most
UKFs work only with Euclidean systems, but in many scenarios it is advantageous to …
UKFs work only with Euclidean systems, but in many scenarios it is advantageous to …
GNSS/INS/OD/NHC adaptive integrated navigation method considering the vehicle motion state
Y Xu, K Wang, C Yang, Z Li, F Zhou… - IEEE Sensors …, 2023 - ieeexplore.ieee.org
Global navigation satellite systems (GNSSs) integrated with inertial navigation systems
(INSs) have been widely applied in many intelligent transport systems. At present …
(INSs) have been widely applied in many intelligent transport systems. At present …
Constructive Equivariant Observer Design for Inertial Navigation⋆
Abstract Inertial Navigation Systems (INS) are algorithms that fuse inertial measurements of
angular velocity and specific acceleration with supplementary sensors including GNSS and …
angular velocity and specific acceleration with supplementary sensors including GNSS and …