7 citations · 17 across the 6 of their papers we have counts for
6 papers · 1 filter
IC-GVINS: A Robust, Real-time, INS-Centric GNSS-Visual-Inertial Navigation System for Wheeled Robot
Hailiang Tang, Tisheng Zhang, Xiaoji Niu +2
In this letter, we present a robust, real-time, inertial navigation system (INS)-Centric GNSS-Visual-Inertial navigation system (IC-GVINS) for wheeled robot, in which the precise I…
The Unified Mathematical Framework for IMU Preintegration in Inertial-Aided Navigation System
Yarong Luo, Yang Liu, Chi Guo +1
This paper proposes a unified mathematical framework for inertial measurement unit (IMU) preintegration in inertial-aided navigation system in different frames under different moti…
OdoNet: Untethered Speed Aiding for Vehicle Navigation Without Hardware Wheeled Odometer
Hailiang Tang, Xiaoji Niu, Tisheng Zhang +2
Odometer has been proven to significantly improve the accuracy of the Global Navigation Satellite System / Inertial Navigation System (GNSS/INS) integrated vehicle navigation in GN…
Exploring the Accuracy Potential of IMU Preintegration in Factor Graph Optimization
Hailiang Tang, Xiaoji Niu, Tisheng Zhang +2
Inertial measurement unit (IMU) preintegration is widely used in factor graph optimization (FGO); e.g., in visual-inertial navigation system and global navigation satellite system/…
Equivariant Filtering Framework for Inertial-Integrated Navigation
Yarong Luo, Chi Guo, Jingnan Liu
This paper proposes a equivariant filtering (EqF) framework for the inertial-integrated state estimation problem. As the kinematic system of the inertial-integrated navigation can…
based Extended Kalman Filtering and Smoothing Framework for Inertial-Integrated Navigation
Yarong Luo, Chi Guo, Shengyong You +2
This paper proposes an based extended Kalman filtering (EKF) framework for the inertial-integrated state estimation problem. The error representation using the straight d…