Abstract: 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.

Abstract: 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.

Abstract: A field programmable filter array with high spectral isolation and reconfigurability. A bank of resonators can be programmed at will and on the fly to give any type of filtering response. The order, type and bandwidth of the filter are electronically reconfigured. Each subset of resonators can switch between bandstop and bandpass configurations and form custom filter shapes consisting of combinations of bandstop and bandpass filters. The filter can include a unit cell of a resonator with a series of switches to enable coupling to any of its nearest neighbors. The path in which the flow of energy takes through the array of resonators is dynamic, and the filtering function which is created is dialable on demand.