Discrete-Time Markovian Jump Linear Robust Filtering for Visual and GPS Aided Magneto-Inertial Navigation

• Published in: IEEE access Vol. 13; pp. 7590 - 7602
• Main Authors: Caldas, Kenny A. Q., Inoue, Roberto S., Terra, Marco H., Guizilini, Vitor, Ramos, Fabio
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 2025; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Accelerometers; Algorithms; Autonomous navigation; Discrete time systems; Estimation; Ferromagnetic materials; Global Positioning System; Global positioning systems; GPS; Gyroscopes; Indoor environments; Inertial navigation; Inertial navigation system; Inertial sensing devices; Kalman filters; Linear systems; Magnetic separation; Magnetometers; Markovian jump linear systems; multi-sensor fusion; Multisensor fusion; Navigation; Occlusion; Position measurement; Robots; robust Kalman filter; Robustness; Satellite navigation systems; Sensors; Simultaneous localization and mapping; Uncertainty; Visual fields; visual SLAM; Visualization
• ISSN: 2169-3536; 2169-3536
• DOI: 10.1109/ACCESS.2025.3527449

Sensor fusion is a major field in autonomous mobile robots navigation research. These methods integrate information obtained from accelerometers, rate gyros and monocular cameras to provide pose and orientation of the robot, which are known in the literature as Visual-Inertial Simultaneous Localizat...