78 citations · 78 across the 6 of their papers we have counts for
7 papers
Accuracy Evaluation of INS/ZUPT Filtering Methods Based on Different Geometric Error Definitions
Wei Ouyang, Jiale Han, Yarong Luo +1
Geometric filters have recently been introduced to improve the accuracy and consistency of inertial-based integrated navigation systems. Error states were defined through specific…
The Setting of IMU Parameters in Kalman Filtering-based Information Fusion
Qiang Hu, Yanhua Zou, Shuaiyi Huo +2
The setting or tuning of specifications for the inertial measurement unit (IMU) is tricky in sensor fusion. The underneath conundrum is caused by the fact that the working conditio…
A Multi-view Landmark Representation Approach with Application to GNSS-Visual-Inertial Odometry
Tong Hua, Jiale Han, Wei Ouyang
Invariant Extended Kalman Filter (IEKF) has been a significant technique in vision-aided sensor fusion. However, it usually suffers from high computational burden when jointly opti…
Clifford Algebra-Based Iterated Extended Kalman Filter with Application to Low-Cost INS/GNSS Navigation
Wei Ouyang, Yutian Wang, Yuanxin Wu
The traditional GNSS-aided inertial navigation system (INS) usually exploits the extended Kalman filter (EKF) for state estimation, and the initial attitude accuracy is key to the…
A Trident Quaternion Framework for Inertial-based Navigation Part I: Rigid Motion Representation and Computation
Wei Ouyang, Yuanxin Wu
Strapdown inertial navigation research involves the parameterization and computation of the attitude, velocity and position of a rigid body in a chosen reference frame. The communi…
A Trident Quaternion Framework for Inertial-based Navigation Part II: Error Models and Application to Initial Alignment
Wei Ouyang, Yuanxin Wu
This work deals with error models for trident quaternion framework proposed in the companion paper (Part I) and further uses them to investigate the odometer-aided static/in-motion…
INS/Odometer Land Navigation by Accurate Measurement Modeling and Multiple-Model Adaptive Estimation
Wei Ouyang, Yuanxin Wu, Hongyue Chen
Land vehicle navigation based on inertial navigation system (INS) and odometers is a classical autonomous navigation application and has been extensively studied over the past seve…