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cs.RO2026
Analytical Covariance Propagation for DVL-Aided Loosely Coupled SINS Under Attitude Uncertainty
Jin Huang, Zichen Liu, Haoda Li +5
In loosely coupled strapdown inertial navigation system/Doppler velocity log (SINS/DVL) integration, the body-frame DVL velocity is projected into the navigation frame using the SI…
cs.RO2025
RaspiUSBL: An open-source Raspberry Pi-Based Passive Inverted Ultra-Short Baseline Positioning System for Underwater Robotics
Jin Huang, Yingqiang Wang, Ying Chen
Precise underwater positioning remains a fundamental challenge for underwater robotics because global navigation satellite system (GNSS) signals cannot penetrate the sea surface. T…
cs.RO2025
Precise Time Delay Measurement and Compensation for Tightly Coupled Underwater SINS/piUSBL Navigation
Jin Huang, Yingqiang Wang, Haoda Li +3
In multisensor systems, time synchronization is particularly challenging for underwater integrated navigation systems (INSs) incorporating acoustic positioning, where time delays c…