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	Invariant Extended Kalman Filtering for Tightly Coupled LiDAR-Inertial Odometry and Mapping 期刊论文 OAI收割 IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2023, 页码: 12 作者: Shi, Pengcheng; Zhu, Zhikai; Sun, Shiying; Zhao, Xiaoguang; Tan, Min \| 收藏 \| 浏览/下载：52/0 \| 提交时间：2023/03/20 Laser radar Feature extraction Simultaneous localization and mapping Robustness Point cloud compression Optimization Kalman filters Invariant extended kalman filter (EKF) light detection and ranging (LiDAR)-inertial odometry multisensor fusion localization state estimation
	Model-aided localization and navigation for underwater gliders using single-beacon travel-time differences 期刊论文 OAI收割 SENSORS, 2020, 卷号: 20, 期号: 3, 页码: 1-21 作者: Sun J(孙洁); Hu F(胡峰); Jin WM(金文明); Wang J(王瑾); Wang X(王旭) \| 收藏 \| 浏览/下载：64/0 \| 提交时间：2020/03/01 underwater gliders modified kinematic model travel-time difference EKF estimation RTS smoothing
	A Pedestrian Dead-Reckoning System for Walking and Marking Time Mixed Movement Using an SHSs Scheme and a Foot-Mounted IMU 期刊论文 OAI收割 IEEE Sensors Journal, 2019, 卷号: 19, 期号: 5, 页码: 1661-1671 作者: Wu, Yuan; Zhu, Haibing; Du, Qingxiu; Tang, Shuming \| 收藏 \| 浏览/下载：92/0 \| 提交时间：2019/05/04 Pedestrian Dead-reckoning Imu Step And Heading System Gait Partitioning Motion Classification Ekf Filtering Marking Time Trajectory Estimation
	A comparative study based on the least square parameter identification method for state of charge estimation of a lifepo4 battery pack using three model-based algorithms for electric vehicles 期刊论文 iSwitch采集 Energies, 2016, 卷号: 9, 期号: 9, 页码: 16 作者: Zahid, Taimoor; Li, Weimin 收藏 \| 浏览/下载：64/0 \| 提交时间：2019/05/09 Battery management system Lithium ion batteries State of charge (soc) estimation Extended kalman filter (ekf) Unscented kalman filter (ukf) Particle filter (pf)
	A Multi-model EKF Integrated Navigation Algorithm for Deep Water AUV 期刊论文 OAI收割 INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2016, 卷号: 13, 期号: 1, 页码: 1-15 作者: Li DD(李冬冬); Ji DX(冀大雄); Liu J(刘健); Lin Y(林扬) 收藏 \| 浏览/下载：48/0 \| 提交时间：2016/02/28 AUV EKF Integrated Navigation System Beacons Multi-model Estimation
	微小型直升机姿态估计和鲁棒控制技术研究学位论文 OAI收割工学博士, 中国科学院自动化研究所: 中国科学院研究生院, 2012 作者: 常冠清收藏 \| 浏览/下载：63/0 \| 提交时间：2015/09/02 微小型直升机姿态估计 EKF SR-UKF 自抗扰控制 Backstepping 自适应模糊系统飞控系统平台 Miniature Helicopters Attitude Estimation EKF SR-UKF ADRC Backstepping Adaptive Fuzy System Flight Control platform
	Application of CMOS APS star tracker with large FOV in attitude and angular velocity determination (EI CONFERENCE) 会议论文 OAI收割 Advanced Sensor Systems and Applications III, November 12, 2007 - November 14, 2007, Beijing, China Lu D.; Guang J.; Shaoju W.; Tao C. 收藏 \| 浏览/下载：37/0 \| 提交时间：2013/03/25 The paper deals with the spacecraft attitude determination problem using a new kind of star tracker with large FOV based on CMOS APS. Star tracker has been developed since 1970s and proved to be the most accurate sensor ever used in the spacecraft attitude determination systems. But the traditional CCD star tracker also has some disadvantages such as small FOV high power consumption low sample rate and low working angular rate limit which prevent the use of CCD star tracker in attitude large angle maneuvering process. The new kind of star tracker based on CMOS APS has no such disadvantages and is more applicable on modern low-cost agile small satellites. Its higher sample rate and working angular rate limit over traditional CCD star tracker make it more adapt for spacecraft angular velocity determination. Because of the large FOV of the star tracker the mathematical model of traditional CCD star tracker with a small FOV is not appropriate. So a new mathematical model was quoted to fit the star tracker with a large FOV. An alternative adaptive algorithm was also introduced in the paper. It can help the EKF algorithm work lacking of accurate covariance of the observation noise. An optimal estimation algorithm was used to estimate the angular velocity directly from the star tracker measurements. Mathematic simulation results indicate the CMOS APS star tracker can give accurate attitude information and estimated angular rate. The method can be used as the chief attitude determination system design of low-cost satellite without gyros or be used as a backup strategy in the event of gyro failures to enhance the reliability of the attitude determination system.