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This paper presents a tightly-coupled INS/GNSS integration for personal navigation systems using foot-mounted sensors. Our precise relative positioning INS based on high accurate Zero-Velocity-Updates (ZUPTs) is fused with GNSS pseudo-range and doppler measurements for absolute position and heading estimation. Unique is the decision depending on the classified motion state if doppler measurements...
A major goal in the research and development area of navigation is to improve the accuracy and the integrity of navigational systems. Scientists and researchers in this field are working on increasing the performance of navigational algorithms while the sensors for navigation systems become smaller and cheaper. Nonetheless ring laser gyroscope (RLG) and fiber optic gyroscope (FOG) are navigational...
In order to enable autonomous flights and to increase the field of application of Micro Aerial Vehicles (MAVs) a new quadrotor with tiltable rotors is developed. This highly non-linear system requires complex algorithms to be controlled. To gain an efficient and robust control algorithm is a key problem concerning autonomous flights. In this article a simple but robust control approach based on control...
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