3 papers · 1 filter
Bluetooth Phased-array Aided Inertial Navigation Using Factor Graphs: Experimental Verification
Glen Hjelmerud Mørkbak Sørensen, Torleiv H. Bryne, Kristoffer Gryte +1
Phased-array Bluetooth systems have emerged as a low-cost alternative for performing aided inertial navigation in GNSS-denied use cases such as warehouse logistics, drone landings,…
Equivalence of Left- and Right-Invariant Extended Kalman Filters on Matrix Lie Groups
Finn G. Maurer, Erlend A. Basso, Henrik M. Schmidt-Didlaukies +1
This paper derives the extended Kalman filter (EKF) for continuous-time systems on matrix Lie groups observed through discrete-time measurements. By modeling the system noise on th…
The Syncline Model -- Analyzing the Impact of Time Synchronization in Sensor Fusion
Erling Rennemo Jellum, Torleiv Håland Bryne, Tor Arne Johansen +1
The accuracy of sensor fusion algorithms are limited by either the intrinsic sensor noise, or by the quality of time synchronization of the sensors. While the intrinsic sensor nois…