4 papers
On the Optimized Use of Non-Orthonormality Constraints for the Quasi-Static INS Alignment of Autonomous Underwater and Surface Vehicles
Carlos Renato C. Durao, Felipe O. Silva, Itzik Klein +4
Inertial navigation systems are specialized navigation apparatuses that equip almost all autonomous underwater and surface vehicles. They require precise initial alignment, i.e., d…
Data-Dependent Hidden Markov Model with Off-Road State Determination and Real-Time Viterbi Algorithm for Lane Determination in Autonomous Vehicles
Mike Stas, Wang Hu, Jay A. Farrell
Lane determination and lane sequence determination are important components for many Connected and Automated Vehicle (CAV) applications. Lane determination has been solved using Hi…
Convex Reformulation of Information Constrained Linear State Estimation with Mixed-Binary Variables for Outlier Accommodation
Wang Hu, Zeyi Jiang, Hamed Mohsenian-Rad +1
This article considers the challenge of accommodating outlier measurements in state estimation. The Risk-Averse Performance-Specified (RAPS) state estimation approach addresses out…
Optimization-Based Outlier Accommodation for Tightly Coupled RTK-Aided Inertial Navigation Systems in Urban Environments
Wang Hu, Yingjie Hu, Mike Stas +1
Global Navigation Satellite Systems (GNSS) aided Inertial Navigation System (INS) is a fundamental approach for attaining continuously available absolute vehicle position and full…