With the widespread development of multiple sensors for UGVs, the multi-source fusion-navigation system, which overcomes the limitations of the use of a single sensor, is becoming increasingly important in the field of autonomous navigation for UGVs....
The indoor autonomous navigation of unmanned aerial vehicles (UAVs) is the current research hotspot. Unlike the outdoor broad environment, the indoor environment is unknown and complicated. Global Navigation Satellite System (GNSS) signals are easily...
Multi-source autonomous navigation-dependable decision making has a crucial impact on the overall performance of navigation systems. To solve the problem of overall system robustness caused by the intelligent-dependable decision making difficulties o...
Unmanned aerial vehicles (UAVs) are increasingly used indoors for inspection, security, and emergency tasks. Achieving accurate and robust localization under Global Navigation Satellite System (GNSS) unavailability and obstacle occlusions is therefor...
In order to deeply absorb the power generation of new energy, coal-fired circulating fluidized bed units are widely required to participate in power grid dispatching. However, the combustion system of the units faces problems such as decreased contro...
Aimed at the problem of small unmanned aerial vehicle (UAV) attitude solution accuracy and real-time performance in short-range navigation flight, in this paper, we propose a fast weakly-coupled double-layer error-state Kalman filter (DL-ESKF) attitu...
Space-borne gravitational wave detection satellite confronts many uncertain perturbations, such as solar pressure, dilute atmospheric drag, etc. To realize an ultra-static and ultra-stable inertial benchmark achieved by a test-mass (TM) being free to...
To enhance system reliability and mitigate the vulnerabilities of the Global Navigation Satellite Systems (GNSS), it is common to fuse the Inertial Measurement Unit (IMU) and visual sensors with the GNSS receiver in the navigation system design, effe...
Event-based cameras are a new type of vision sensor in which pixels operate independently and respond asynchronously to changes in brightness with microsecond resolution, instead of providing standard intensity frames. Compared with traditional camer...
The application of an ultra-wideband (UWB) positioning system in a Global Positioning System (GPS) denial environment such as an underground coal mine, mainly focuses on position information and rarely involves information such as direction attitude....
In the field of tunnel engineering, the precise determination of the spatial coordinates of karst water-rich pipelines represents a critical area of research for disaster prevention and control. Traditional detection methods often exhibit limitations...
With the increasing deployment of unmanned aerial vehicles (UAVs) in indoor environments, the demand for high-precision six-degrees-of-freedom (6-DoF) localization has grown significantly. Ultra-wideband (UWB) technology has emerged as a key enabler...
As an important component of autonomous intelligent systems, the research on autonomous positioning algorithms used by UAVs is of great significance. In order to resolve the problem whereby the GNSS signal is interrupted, and the visual sensor lacks...
High−precision and robust localization is critical for intelligent vehicle and transportation systems, while the sensor signal loss or variance could dramatically affect the localization performance. The vehicle localization problem in an envir...
The Kalman filter variants extended Kalman filter (EKF) and error-state Kalman filter (ESKF) are widely used in underwater multi-sensor fusion applications for localization and navigation. Since these filters are designed by employing first-order Tay...
Low-cost MEMS sensors are widely utilized in UAV platforms to address attitude estimation problems due to their compact size, low power consumption, and cost-effectiveness. Diverse UAV payloads pose new challenges for attitude estimation, such as mag...
A modified Extended State Kalman Filter (ESKF)-based Model Predictive Control (MPC) algorithm is introduced to tailor the enhanced disturbance suppression in electro-optical tracking systems. Traditional control techniques, although robust, often str...
This study introduces an Enhanced Error-Adaptive Extended-State Kalman Filter Model Predictive Control (EEA-ESKF-MPC) method to tackle strong coupling and inertia in supercritical power plants. By enhancing the ESKF-MPC framework with a mechanism tha...
Magnetic pose tracking is a non-contact, accurate, and occlusion-free method that has been increasingly employed to track intra-corporeal medical devices such as endoscopes in computer-assisted medical interventions. In magnetic pose-tracking systems...
Circulating cell-free DNA (cfDNA) has diverse applications in oncological, prenatal, toxicological, cardiovascular, and autoimmune diseases, diagnostics, and organ transplantation. In particular, mitochondrial cfDNA (mt-cfDNA) is associated with infl...
Agricultural robots have demonstrated significant potential in enhancing farm operational efficiency and reducing manual labour. However, unstructured and complex farm environments present challenges to the precise localisation and navigation of robo...
Pedestrian navigation systems could serve as a good supplement for other navigation methods or for extending navigation into areas where other navigation systems are invalid. Due to the accumulation of inertial sensing errors, foot-mounted inertial-s...
Unmanned ground vehicles (UGVs) are making more and more progress in many application scenarios in recent years, such as exploring unknown wild terrain, working in precision agriculture and serving in emergency rescue. Due to the complex ground condi...
Accurate walking trajectory estimation is critical for monitoring activity levels in healthcare and occupational safety applications. Ultra-Wideband (UWB) technology has emerged as a key solution for indoor human activity and trajectory tracking. How...
This paper proposes a cascaded state estimation framework based on proprioception for robots. A generalized-momentum-based Kalman filter (GMKF) estimates the ground reaction forces at the feet through joint torques, which are then input into an error...
LiDAR-based simultaneous localization and mapping (SLAM) and online localization methods are widely used in autonomous driving, and are key parts of intelligent vehicles. However, current SLAM algorithms have limitations in map drift and localization...
In contrast to outdoor environments, indoor positioning encounters signal propagation disruptions due to the presence of buildings, resulting in reduced accuracy and, at times, the inability to determine a location accurately. This research, leveragi...
The series–parallel hybrid powertrain combines the advantages of both series and parallel configurations, offering optimal power performance and fuel efficiency. However, the presence of multiple excitation sources significantly complicates the...
Accurate and reliable multi-scene positioning remains a critical challenge in autonomous driving systems, as conventional fixed-noise fusion strategies struggle to handle the dynamic error characteristics of heterogeneous sensors in complex operation...
IgA nephropathy (IgAN), first described in 1968, is one of the most common forms of glomerulonephritis and can progress to end-stage kidney disease (ESKD) in 25 to 30 percent of patients within 20 to 25 years from the onset. It is histologically char...
Introduction: Acute pulmonary edema (APE) due to fluid overload is considered the most feared complication in hemodialysis patients. Various diagnostic tests have been proposed to assess the fluid status in patients with end-stage kidney failure (ESK...
Autonomous driving systems rely on a comprehensive understanding of the surrounding environment, and trees, as important roadside features, have a significant impact on vehicle positioning and safety analysis. Existing methods use mobile LiDAR system...