Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Concept Videos

Types of Global Positioning System Surveys01:30

Types of Global Positioning System Surveys

108
GPS surveying methods vary in application, accuracy, and data collection techniques, catering to diverse surveying and mapping needs. Static GPS, kinematic GPS, and real-time kinematic (RTK) surveying are widely used. Each technique offers distinct advantages.Static GPS involves placing one receiver at a known reference point and another at the target point. It collects exact positional data by observing multiple satellite ranges over an extended period, achieving centimeter-level accuracy for...
108
Design Example: Identifying the Locations of Monuments in the Field Using Global Positioning System Device01:30

Design Example: Identifying the Locations of Monuments in the Field Using Global Positioning System Device

159
Surveyors use Global Positioning System (GPS) technology to measure the precise location and elevation of points on Earth. In a recent survey, GPS receivers were used to determine the coordinates and elevations of two park monuments. The process involved careful mission planning, data collection, and correction to ensure accuracy. The survey began with mission planning to identify optimal satellite visibility and minimize Position Dilution of Precision (PDOP). A geodetic control point...
159
Root-Locus Method01:19

Root-Locus Method

201
A cruise control system in a car is designed to maintain a specified speed automatically by adjusting the gas pedal. The system continuously measures the vehicle's speed and makes fine adjustments to the pedal to achieve this goal. The root locus method is particularly useful for understanding how the cruise control system's behavior changes under varying conditions, such as when the car goes uphill, downhill, or faces strong wind resistance.
This system can be represented by a block...
201
Rolling Resistance: Problem Solving01:17

Rolling Resistance: Problem Solving

414
Rolling resistance, also known as rolling friction, is the force that resists the motion of a rolling object, such as a wheel, tire, or ball, when it moves over a surface. It is caused by the deformation of the object and the surface in contact with each other, as well as other factors like internal friction, hysteresis, and energy losses within the materials. Rolling resistance opposes the object's motion, requiring additional energy to overcome it and maintain movement. In practical...
414
Field Application of Global Positioning System01:28

Field Application of Global Positioning System

86
The Global Positioning System (GPS) has become an indispensable tool in fieldwork, offering unparalleled precision and efficiency for surveying, navigation, and infrastructure development. By harnessing signals from a constellation of satellites, GPS receivers determine the location of objects with remarkable speed and accuracy, often completing calculations within a second.Advantages of Modern GPS TechnologyContemporary GPS receivers are designed to meet the practical demands of field...
86
Errors in Global Positioning System01:26

Errors in Global Positioning System

95
Global Positioning System (GPS) technology has revolutionized navigation and positioning, but its accuracy is often compromised by various errors. These errors, stemming from environmental, satellite, and receiver-related factors, require careful mitigation to ensure reliable performance across applications.Atmospheric ErrorsGPS signals travel through the Earth’s ionosphere and troposphere, introducing delays which affect accuracy. The ionosphere is strongly influenced by charged particles,...
95

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

Detectable C-Peptide and Diabetic Ketoacidosis Risk in Type 1 Diabetes.

Diabetes care·2026
Same author

Identification of a Novel Glycosyltransferase CaUGT Specifically Targeting the C-30 Position of Glycyrrhetinic Acid and Development of an Efficient Enzymatic Biotransformation System.

Journal of agricultural and food chemistry·2026
Same author

O-GlcNAcylation licenses RNF166 to degrade the M protein of porcine coronaviruses.

PLoS pathogens·2026
Same author

Nitrogen-Rich Fused-Ring Heat-Resistant Energetic Materials via Concise Synthetic Strategies.

The Journal of organic chemistry·2026
Same author

Electrically functionalized body surface for deep-tissue bioelectrical recording.

Nature biomedical engineering·2026
Same author

Sex-specific virtual population for the prediction and assessment of arrhythmia risk.

Europace : European pacing, arrhythmias, and cardiac electrophysiology : journal of the working groups on cardiac pacing, arrhythmias, and cardiac cellular electrophysiology of the European Society of Cardiology·2026

Related Experiment Video

Updated: Aug 25, 2025

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
11:53

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

11.8K

Robust Lidar-Inertial Odometry with Ground Condition Perception and Optimization Algorithm for UGV.

Zixu Zhao1,2, Yucheng Zhang1, Jinglin Shi1

  • 1Institute of Computing Technology, Chinese Academy of Sciences, Beijing 100190, China.

Sensors (Basel, Switzerland)
|October 14, 2022
PubMed
Summary
This summary is machine-generated.

This study introduces a novel lidar-inertial odometry system for unmanned ground vehicles (UGVs) that adapts to changing ground conditions. The system enhances state estimation accuracy and robustness in unstructured environments.

Keywords:
UGVground perceptionlidar-inertial odometrysensor fusionstate estimation

More Related Videos

An Inertial Measurement Unit Based Method to Estimate Hip and Knee Joint Kinematics in Team Sport Athletes on the Field
06:52

An Inertial Measurement Unit Based Method to Estimate Hip and Knee Joint Kinematics in Team Sport Athletes on the Field

Published on: May 26, 2020

8.0K
Fully Automated Leg Tracking in Freely Moving Insects using Feature Learning Leg Segmentation and Tracking FLLIT
08:04

Fully Automated Leg Tracking in Freely Moving Insects using Feature Learning Leg Segmentation and Tracking FLLIT

Published on: April 23, 2020

6.9K

Related Experiment Videos

Last Updated: Aug 25, 2025

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
11:53

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

11.8K
An Inertial Measurement Unit Based Method to Estimate Hip and Knee Joint Kinematics in Team Sport Athletes on the Field
06:52

An Inertial Measurement Unit Based Method to Estimate Hip and Knee Joint Kinematics in Team Sport Athletes on the Field

Published on: May 26, 2020

8.0K
Fully Automated Leg Tracking in Freely Moving Insects using Feature Learning Leg Segmentation and Tracking FLLIT
08:04

Fully Automated Leg Tracking in Freely Moving Insects using Feature Learning Leg Segmentation and Tracking FLLIT

Published on: April 23, 2020

6.9K

Area of Science:

  • Robotics
  • Sensor Fusion
  • Autonomous Systems

Background:

  • Unmanned Ground Vehicles (UGVs) face challenges in state estimation due to complex terrains.
  • Existing sensor fusion odometry often lacks robustness in unstructured environments without prior optimization.
  • Accurate ego-motion estimation is critical for UGV navigation in diverse applications like agriculture and rescue.

Purpose of the Study:

  • To propose a robust lidar-inertial odometry system for UGVs.
  • To develop a novel algorithm for real-time perception and optimization of ground conditions.
  • To enhance the accuracy and reliability of UGV state estimation in challenging environments.

Main Methods:

  • An error-state Kalman filter (ESKF) fusion model was employed.
  • A novel ground condition perception algorithm utilizing IMU data and ESKF state estimation was developed.
  • Tightly coupled lidar-inertial odometry was dynamically optimized by adjusting lidar point processing parameters based on ground condition analysis.

Main Results:

  • The proposed method demonstrated robust and accurate ego-motion state estimation for UGVs.
  • Real-time evaluation of ground condition flatness was achieved.
  • Dynamic optimization of lidar-inertial odometry parameters improved state estimation consistency across varied ground conditions.

Conclusions:

  • The developed lidar-inertial odometry system significantly improves UGV state estimation robustness and accuracy.
  • The ground condition perception and optimization algorithm enables adaptive navigation in unstructured environments.
  • This approach offers a reliable solution for UGV navigation in challenging and dynamic terrains.