32 citations · 46 across the 9 of their papers we have counts for
9 papers
CT-ESKF: A General Framework of Covariance Transformation-Based Error-State Kalman Filter
Jiale Han, Wei Ouyang, Maoran Zhu +1
Invariant extended Kalman filter (InEKF) possesses excellent trajectory-independent property and better consistency compared to conventional extended Kalman filter (EKF). However,…
An Immediate Update Strategy of Multi-State Constraint Kalman Filter
Qingchao Zhang, Wei Ouyang, Jiale Han +3
The lightweight Multi-state Constraint Kalman Filter (MSCKF) has been well-known for its high efficiency, in which the delayed update has been usually adopted since its proposal. T…
Visual-inertial state estimation based on Chebyshev polynomial optimization
Hongyu Zhang, Maoran Zhu, Qi Cai +1
This paper proposes an innovative state estimation method for visual-inertial fusion based on Chebyshev polynomial optimization. Specifically, the pose is modeled as a Chebyshev po…
Inertial-based Navigation by Polynomial Optimization: Inertial-Magnetic Attitude Estimation
Maoran Zhu, Yuanxin Wu
Inertial-based navigation refers to the navigation methods or systems that have inertial information or sensors as the core part and integrate a spectrum of other kinds of sensors…
Investigation of Enhanced Inertial Navigation Algorithms by Functional Iteration
Hongyan Jiang, Maoran Zhu, Yuanxin Wu
The defects of the traditional strapdown inertial navigation algorithms become well acknowledged and the corresponding enhanced algorithms have been quite recently proposed trying…
iNavFIter-M: Matrix Formulation of Functional Iteration for Inertial Navigation Computation
Hongyan Jiang, Maoran Zhu, Yanyan Fu +1
The acquisition of attitude, velocity, and position is an essential task in the field of inertial navigation, achieved by integrating the measurements from inertial sensors. Recent…
ChevOpt: Continuous-time State Estimation by Chebyshev Polynomial Optimization
Maoran Zhu, Yuanxin Wu
In this paper, a new framework for continuous-time maximum a posteriori estimation based on the Chebyshev polynomial optimization (ChevOpt) is proposed, which transforms the nonlin…
Attitude Reconstruction from Inertial Measurement: Mitigating Runge Effect for Dynamic Applications
Yuanxin Wu, Maoran Zhu
Time-equispaced inertial measurements are practically used as inputs for motion determination. Polynomial interpolation is a common technique of recovering the gyroscope signal but…
f2IMU-R: Pedestrian Navigation by Low-cost Foot-Mounted Dual IMUs and Inter-foot Ranging
Maoran Zhu, Yuanxin Wu, Shitu Luo
Foot-mounted inertial sensors become popular in many indoor or GPS-denied applications, including but not limited to medical monitoring, gait analysis, soldier and first responder…