Tightly coupled ultrashort baseline and inertial navigation system for underwater vehicles: An experimental validation

2012 ◽  
Vol 30 (1) ◽  
pp. 142-170 ◽  
Author(s):  
M. Morgado ◽  
P. Oliveira ◽  
C. Silvestre
Keyword(s):  
Navigation System ◽  
Experimental Validation ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Underwater Vehicles ◽  
Tightly Coupled

An inertial navigation system for small autonomous underwater vehicles

2001 ◽  
Vol 15 (5) ◽  
pp. 521-532 ◽  
Author(s):  
Xiaoping Yun ◽  
Eric R. Bachmann ◽  
Suatarslan ◽  
Kadir Akyol ◽  
Robert B. McGhee
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Autonomous Underwater Vehicles ◽  
Inertial Navigation ◽  
Underwater Vehicles

scholarly journals A Hybrid Sliding Window Optimizer for Tightly-Coupled Vision-Aided Inertial Navigation System

Sensors ◽  
2019 ◽  
Vol 19 (15) ◽  
pp. 3418 ◽  
Author(s):  
Junxiang Jiang ◽  
Xiaoji Niu ◽  
Ruonan Guo ◽  
Jingnan Liu
Keyword(s):  
Navigation System ◽  
Motion Tracking ◽  
Inertial Navigation System ◽  
Low Cost ◽  
Inertial Navigation ◽  
Sliding Window ◽  
Tightly Coupled ◽  
Inertial Measurements ◽  
Space Requirements ◽  
Sensing Characteristics

The fusion of visual and inertial measurements for motion tracking has become prevalent in the robotic community, due to its complementary sensing characteristics, low cost, and small space requirements. This fusion task is known as the vision-aided inertial navigation system problem. We present a novel hybrid sliding window optimizer to achieve information fusion for a tightly-coupled vision-aided inertial navigation system. It possesses the advantages of both the conditioning-based method and the prior-based method. A novel distributed marginalization method was also designed based on the multi-state constraints method with significant efficiency improvement over the traditional method. The performance of the proposed algorithm was evaluated with the publicly available EuRoC datasets and showed competitive results compared with existing algorithms.

Tightly Coupled Visual-Inertial Navigation System Using Optical Flow

2013 ◽  
Vol 46 (30) ◽  
pp. 251-256 ◽  
Author(s):  
Simon Lynen ◽  
Sammy Omari ◽  
Matthias Wüest ◽  
Markus Achtelik ◽  
Roland Siegwart
Keyword(s):  
Optical Flow ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Tightly Coupled

Improving Aiding techniques for USBL Tightly-Coupled Inertial Navigation System

2008 ◽  
Vol 41 (2) ◽  
pp. 15973-15978 ◽  
Author(s):  
M. Morgado ◽  
P. Oliveira ◽  
C. Silvestre ◽  
J.F. Vasconcelos
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Tightly Coupled
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