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This paper proposes an estimation algorithm for the determination of attitude installation matrix for laser detection and ranging systems (LADAR) mounted onboard autonomous vehicles, without requiring any prior knowledge on the terrain where the calibration mission is performed. The use of autonomous vehicles equipped with LADAR systems to conduct fully automatic surveys of terrain, infrastructures,...
In this work a new algorithm is derived for the onboard calibration of three-axis strapdown magnetometers. The proposed calibration method is written in the sensor frame, and compensates for the combined effect of all linear time-invariant distortions, namely soft iron, hard iron, sensor nonorthogonality, and bias, among others. A maximum likelihood estimator (MLE) is formulated to iteratively find...
This paper addresses the design, development, and test of an integrated Ultra Short Baseline (USBL) and Inertial Navigation System (INS) to be used as a low cost navigation system for underwater robotic vehicles. An architecture for the open prototype is proposed, the acoustic array design and calibration is discussed, the inertial sensors package is presented, supporting acoustic signals to be used...
This paper proposes two estimation algorithms for the determination of attitude installation matrix for Laser Detection and Ranging systems (LADAR) mounted onboard autonomous vehicles. The use of autonomous vehicles equipped with LADAR systems to conduct fully automatic surveys of terrain, infrastructures, or just to navigate safely in unknown environments, motivates the research on increasingly precise...
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