The University of Oklahoma

Mark B Yeary

Jay W McDaniel

John K Antonio

Hjalti H Sigmarsson

Thomas D Hosman

Brian M Sun

A method comprises: obtaining a GPS measurement; obtaining a first IMU measurement; obtaining a second IMU measurement; applying a first particle filter to the GPS measurement and the first IMU measurement to obtain a first position solution; applying a second particle filter to the GPS measurement and the second IMU measurement to obtain a second position solution; calculating a first sensor weight of the first position solution based on a likelihood function; calculating a second sensor weight of the second position solution based on the likelihood function; resampling the first position solution based on the first sensor weight to obtain a first resampled position solution; resampling the second position solution based on the second sensor weight to obtain a second resampled position solution; and calculating a final position estimate based on the GPS measurement, the first resampled position solution, and the second resampled position solution.

Multi-inertial measurement unit fusion for fine-resolution position estimation

An ultrasonic communication system comprising an enclosure, a first module and a second module is described. The enclosure has an internal surface, an external surface, and defines at least one metal channel. The first module comprises an ultrasonic transceiver disposed within the enclosure. The first module is positioned on the internal surface of the enclosure and is capable of transmitting and/or receiving modulated ultrasonic waves via the metal channel. The second module is positioned on the external surface of the enclosure and is adapted to transmit and/or receive modulated ultrasonic waves from the first module via the metal channel.

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Purcell, OK, United States of America

Mark B Yeary