This tutorial presents the factor graph, a recently introduced estimation framework that is a
generalization of the Kalman filter. An approach for constructing a factor graph, with its …

The performance of inertial navigation systems is largely dependent on the stable flow of
external measurements and information to guarantee continuous filter updates and bind the …

INS-DVL integration is a common method for underwater navigation. However, inherent
errors of sensors, especially in MEMS IMUs, lead to inaccuracies in estimating the position …

Accurate and reliable localization is of great importance for autonomous vehicles (AV).
Mainstream localization approaches in autonomous vehicles (AV) are limited by the …

Underwater navigation is generally accomplished through the data fusion of INS (Inertial
Navigation System) and auxiliary sensors such as DVL (Doppler Velocity Logger) sensor …

This paper presents a novel navigation system for aiding a classic inertial navigation system
with a Vehicle Dynamics Model in a quadrotor application. The navigation system is based …

Kinematic constrained navigation is a subset of model‐aided navigation systems that is
attractive because of its independence from extra hardware equipment. In this study, the …

The last decade has witnessed a wide spread of small drones in many civil and military
applications. With the massive advancement in the manufacture of small and lightweight …

It is a challenge to achieve high accuracy navigation for land vehicles without the aid of
global navigation satellite systems (GNSS). Inertial measurement unit (IMU) and odometer …

This paper presents an innovative approach to enhance the navigation of UAVs in GNSS
denied environments. Considering the limited space, power, and size of small UAVs, the …