4 papers · 1 filter
Attitude Estimation Using Inertial and Barometric Measurements
Melone Nyoba Tchonkeu, Soulaimane Berkane, Tarek Hamel
Accurate and robust attitude estimation is a key challenge for autonomous vehicles, particularly in GNSS-denied conditions and during highly accelerated flight. In such conditions,…
Galilean State Estimation for Inertial Navigation Systems with Unknown Time Delay
Giulio Delama, Martin Scheiber, Yixiao Ge +3
Many Inertial Navigation Systems (INS) use Global Navigation Satellite System (GNSS) position as the primary measurement to drive filter performance and bound error growth. However…
Barometer-Aided Attitude Estimation
Méloné Nyoba Tchonkeu, Soulaimane Berkane, Tarek Hamel
Accurate and robust attitude estimation is a central challenge for autonomous vehicles operating in GNSS-denied or highly dynamic environments. In such cases, Inertial Measurement…
Observer Design for Optical Flow-Based Visual-Inertial Odometry with Almost-Global Convergence
Tarek Bouazza, Soulaimane Berkane, Minh-Duc Hua +1
This paper presents a novel cascaded observer architecture that combines optical flow and IMU measurements to perform continuous monocular visual-inertial odometry (VIO). The propo…