INERTIAL NAVIGATION AIDED WITH MULTI-INTERVAL POSE MEASUREMENTS
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Jan 23, 2025
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Jul 18, 2023
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Jul 18, 2023
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Abstract
Techniques for inertial navigation aided with multi-interval pose measurements are disclosed. The techniques can include obtaining inertial measurement unit (IMU) data from an IMU, generating, based on the IMU data, a respective pose measurement vector according to each of a plurality of machine-learning models, resulting in a plurality of pose measurement vectors, wherein each of the plurality of pose measurement vectors is associated with a respective one of multiple motion classes, and determining a device pose estimate based on the IMU data and the plurality of pose measurement vectors.
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