Adaptive Kalman filtering algorithms for integrating GPS and low cost INS

2004 ◽  
Author(s):  
C. Hide ◽  
T. Moore ◽  
M. Smith
Keyword(s):  
Kalman Filtering ◽  
Low Cost ◽  
Filtering Algorithms

scholarly journals Two unbiased converted measurement Kalman filtering algorithms with range rate

2018 ◽  
Vol 12 (11) ◽  
pp. 1217-1224 ◽  
Author(s):  
Hongqiang Liu ◽  
Zhongliang Zhou ◽  
Lei Yu ◽  
Chunguang Lu
Keyword(s):  
Kalman Filtering ◽  
Filtering Algorithms ◽  
Range Rate

Maximum Correntropy Kalman Filter for Orientation Estimation With Application to LiDAR Inertial Odometry

2020 ◽  
Author(s):  
Seyed Fakoorian ◽  
Matteo Palieri ◽  
Angel Santamaria-Navarro ◽  
Cataldo Guaragnella ◽  
Dan Simon ◽  
...  
Keyword(s):  
Kalman Filtering ◽  
Inertial Measurement Unit ◽  
Low Cost ◽  
Attitude Estimation ◽  
High Rate ◽  
Measurement Unit ◽  
Orientation Estimation ◽  
Localization Accuracy ◽  
Inertial Measurement ◽  
Robotic Applications

Abstract Accurate attitude estimation using low-cost sensors is an important capability to enable many robotic applications. In this paper, we present a method based on the concept of correntropy in Kalman filtering to estimate the 3D orientation of a rigid body using a low-cost inertial measurement unit (IMU). We then leverage the proposed attitude estimation framework to develop a LiDAR-Intertial Odometry (LIO) demonstrating improved localization accuracy with respect to traditional methods. This is of particular importance when the robot undergoes high-rate motions that typically exacerbate the issues associated with low-cost sensors. The proposed orientation estimation approach is first validated using the data coming from a low-cost IMU sensor. We further demonstrate the performance of the proposed LIO solution in a simulated robotic cave exploration scenario.

Configuration Estimation of Gough-Stewart Platforms Using Extended Kalman Filtering

2000 ◽  
Author(s):  
Ernest D. Fasse ◽  
Albert J. Wavering
Keyword(s):  
Real Time ◽  
Kalman Filtering ◽  
Time Estimation ◽  
Stewart Platform ◽  
Attitude Estimation ◽  
Extended Kalman Filtering ◽  
Filtering Algorithms ◽  
Satellite Attitude ◽  
Deterministic Methods ◽  
Real Time Estimation

Abstract This paper develops extended Kalman filtering algorithms for a generic Gough-Stewart platform assuming realistically available sensors such as length sensors, rate gyroscopes, and accelerometers. The basic idea is to extend existing methods for satellite attitude estimation. The nondeterministic methods are meant to be a practical alternative to existing iterative, deterministic methods for real-time estimation of platform configuration.

scholarly journals Kalman Filtering for Spacecraft Attitude Estimation by Low-Cost Sensors

2008 ◽  
Vol 9 (1) ◽  
pp. 147-161 ◽  
Author(s):  
Henzeh Lee ◽  
Yoon-Hyuk Choi ◽  
Hyo-Choong Bang ◽  
Jong-Oh Park
Keyword(s):  
Kalman Filtering ◽  
Low Cost ◽  
Attitude Estimation ◽  
Spacecraft Attitude

Application of trilateration and Kalman filtering algorithms to track dynamic brain deformation using sonomicrometry

2020 ◽  
Vol 56 ◽  
pp. 101691 ◽  
Author(s):  
Ahmed Alshareef ◽  
J. Sebastian Giudice ◽  
Jason Forman ◽  
Daniel F. Shedd ◽  
Taotao Wu ◽  
...  
Keyword(s):  
Kalman Filtering ◽  
Filtering Algorithms ◽  
Brain Deformation
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