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Itzik Klein   Dr.  Post Doctoral Researcher 
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Itzik Klein published an article in March 2019.
Top co-authors
Roee Diamant

44 shared publications

Department of Marine Technologies, University of Haifa, Israel

Aviram Borko

2 shared publications

Adi Manos

1 shared publications

Tamir Hazan

1 shared publications

11
Publications
17
Reads
5
Downloads
25
Citations
Publication Record
Distribution of Articles published per year 
(2010 - 2019)
Total number of journals
published in
 
5
 
Publications See all
Article 0 Reads 0 Citations Gravity-Based Methods for Heading Computation in Pedestrian Dead Reckoning Adi Manos, Itzik Klein, Tamir Hazan Published: 07 March 2019
Sensors, doi: 10.3390/s19051170
DOI See at publisher website ABS Show/hide abstract
One of the common ways for solving indoor navigation is known as Pedestrian Dead Reckoning (PDR), which employs inertial and magnetic sensors typically embedded in a smartphone carried by a user. Estimation of the pedestrian’s heading is a crucial step in PDR algorithms, since it is a dominant factor in the positioning accuracy. In this paper, rather than assuming the device to be fixed in a certain orientation on the pedestrian, we focus on estimating the vertical direction in the sensor frame of an unconstrained smartphone. To that end, we establish a framework for gravity direction estimation and highlight the important role it has for solving the heading in the horizontal plane. Furthermore, we provide detailed derivation of several approaches for calculating the heading angle, based on either the gyroscope or the magnetic sensor, all of which employ the estimated vertical direction. These various methods—both for gravity direction and for heading estimation—are demonstrated, analyzed and compared using data recorded from field experiments with commercial smartphones.
Article 2 Reads 0 Citations GNSS/INS Fusion with Virtual Lever-Arm Measurements Aviram Borko, Itzik Klein, Gilad Even-Tzur Published: 11 July 2018
Sensors, doi: 10.3390/s18072228
DOI See at publisher website PubMed View at PubMed ABS Show/hide abstract
The navigation subsystem in most platforms is based on an inertial navigation system (INS). Regardless of the INS grade, its navigation solution drifts in time. To avoid such a drift, the INS is fused with external sensor measurements such as a global navigation satellite system (GNSS). Recent publications showed that the lever-arm, defined as the relative position between the INS and aiding sensor, has a strong influence on navigation accuracy. Most research in this field is focused on INS/GNSS fusion with GNSS position or velocity updates while considering various maneuvers types. In this paper, we propose to employ virtual lever-arm (VLA) measurements to improve the accuracy and time to convergence of the observable INS error-states. In particular, we show that VLA measurements improve performance even in stationary conditions. In situations when maneuvering helps to improve state observability, VLA measurements manage to gain additional improvement in accuracy. These results are supported by simulation and field experiments with a vehicle mounted with a GNSS and an INS.
Article 0 Reads 0 Citations Observability Analysis of Heading Aided INS for a Maneuvering AUV Itzik Klein, Roee Diamant Published: 06 March 2018
Navigation, doi: 10.1002/navi.222
DOI See at publisher website
CONFERENCE-ARTICLE 14 Reads 0 Citations <span>Observability and Performance Analysis of Velocity Measurements with Lever Arm Aided INS</span> Aviram Borko, Itzik Klein, Gilad Even-Tzur Published: 14 November 2017
Proceedings, doi: 10.3390/ecsa-4-04893
DOI See at publisher website ABS Show/hide abstract

In most autonomous vehicles the navigation subsystem is based on Inertial Navigation System (INS). Regardless of the INS grade, its navigation solution drifts in time. To avoid such a drift, the INS is fused with external sensor measurements. Recent publications show that the lever-arm, the relative position between the INS and aiding sensor, has influence on the navigation performance.

Most published research in this field is focused on INS/GNSS fusion with GNSS position updates only where performance and analytical observability analysis were made to examine the consequence of vehicle maneuvers on the estimation of the lever-arm states.

Yet, besides position updates, a variety of sensors measuring the vehicle velocity vector are available including GNSS and a Doppler velocity log. As in position measurements, when performing INS/velocity measurements fusion, the lever-arm must be taken account for. In this paper, an analytical observability and performance analysis for velocity measurements with lever-arm aided INS is derived for stationary conditions. The observable and unobservable subspaces are derived for two error-stets models: 1) a 12 error-state model (the position and lever-arm error-states are not included) yet the lever-arm is present in the measurement equation and 2) a 15 error-state model including the lever-arm error-states. The analytical closed form expressions are verified by numerical simulation.

Article 1 Read 8 Citations Observability Analysis of DVL/PS Aided INS for a Maneuvering AUV Itzik Klein, Roee Diamant, Vittorio M. N. Passaro Published: 22 October 2015
Sensors, doi: 10.3390/s151026818
DOI See at publisher website PubMed View at PubMed ABS Show/hide abstract
Recently, ocean exploration has increased considerably through the use of autonomous underwater vehicles (AUV). A key enabling technology is the precision of the AUV navigation capability. In this paper, we focus on understanding the limitation of the AUV navigation system. That is, what are the observable error-states for different maneuvering types of the AUV? Since analyzing the performance of an underwater navigation system is highly complex, to answer the above question, current approaches use simulations. This, of course, limits the conclusions to the emulated type of vehicle used and to the simulation setup. For this reason, we take a different approach and analyze the system observability for different types of vehicle dynamics by finding the set of observable and unobservable states. To that end, we apply the observability Gramian approach, previously used only for terrestrial applications. We demonstrate our analysis for an underwater inertial navigation system aided by a Doppler velocity logger or by a pressure sensor. The result is a first prediction of the performance of an AUV standing, rotating at a position and turning at a constant speed. Our conclusions of the observable and unobservable navigation error states for different dynamics are supported by extensive numerical simulation.
Article 0 Reads 0 Citations Analytical Observability Analysis of INS with Vehicle Constraints Yaacov Rothman, Itzik Klein, Sagi Filin Published: 01 September 2015
Navigation, doi: 10.1002/navi.116
DOI See at publisher website
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