5 papers · 1 filter
Closed-loop vs. Open-loop Kalman Filter Architectures in Airborne Aided Inertial Navigation
Antonia Hager, Torleiv H. Bryne
Closed-loop (or feedback) error-state Kalman filters with their relatives and offspring are the state-of-the-art in modern aided inertial navigation research. Estimated inertial na…
Derivations of Error-State Kalman Filter Kinematics for Globally Applicable Aided Inertial Navigation Systems
Antonia Hager, Torleiv H. Bryne
Global navigation systems require state estimation algorithms that handle Earth's curvature, Earth's rotation, and gravitational variations. These factors can typically be neglecte…
Scalar and Vector Airborne Platform Calibration Using Quantum and Classical Magnetometers and Inertial Sensors
Antonia Hager, Torleiv H. Bryne, Mia Jukić
Airborne magnetometry requires rigorous calibration to isolate geomagnetic signals from sensor errors and platform magnetic fields. This magnetic compensation is needed for applica…
Airborne Magnetic Anomaly Navigation with Neural-Network-Augmented Online Calibration
Antonia Hager, Sven Nebendahl, Alexej Klushyn +3
Airborne Magnetic Anomaly Navigation (MagNav) provides a jamming-resistant and robust alternative to satellite navigation but requires the real-time compensation of the aircraft pl…
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,…