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Augmentation of GNSS by Low-Cost MEMS IMU, OBD-II, and Digital Altimeter for Improved Positioning in Urban Area
2018
Sensors
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The proposed system augments GNSS by low-cost MEMS IMU (Micro Electro Mechanical Systems Inertial Measurement Unit), OBD (On-Board Diagnostics)-II, and digital altimeter modules. ...
For improved availability of time synchronization in urban area, an adaptive synchronization method is proposed to combine the external PPS (Pulse Per Second) signal and the internal onboard clock. ...
For the reason, the rapid growth of position errors during partial or no satellite visibility can be bounded even if low cost MEMS IMUs are used. ...
doi:10.3390/s18113830
pmid:30413086
fatcat:rbsg3n64wbcyjetrosoalui4xy
An Adaptive Unscented Kalman Filter for tightly coupled INS/GPS integration
2012
Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium
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Name, Last name : Tamer AKÇA Signature : iv ABSTRACT AN ADAPTIVE UNSCENTED KALMAN FILTER FOR ...
MTi is a low cost -low performance MEMS IMU of Xsens Technologies Inc. ...
Standard EKF and UKF Results Low cost and low performance MEMS IMU is integrated with the GPS in a tightlycoupled architecture using the standard EKF and UKF algorithms. ...
doi:10.1109/plans.2012.6236907
fatcat:sf63vb4rineupprvl5zqjlpxjy
Trajectory Tracking of an Oscillating Movement with a Low-Cost IMU in Geodetic Surveying Applications
2021
Measurement (London)
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In this paper, we design a method to use a low-cost IMU (Inertial Measurement Unit) sensor for the absolute positioning of an oscillating object and for improvement of the kinematic RTS (Robotic Total ...
Typically when using standard methods for position estimation based on IMU measurements, a drift of several hundred meters occurres after only 1 min of operation. ...
Acknowledgments We acknowledge Jure Ž ižmond for the support in the fieldwork with Quanser Shake Table and Jernej Tekavec for sharing his experience with low-cost IMUs.
Appendix A. ...
doi:10.1016/j.measurement.2021.109207
fatcat:t4nac6fx2rhyrlybjl2un5kvga
An Artificial Neural Network Embedded Position and Orientation Determination Algorithm for Low Cost MEMS INS/GPS Integrated Sensors
2009
Sensors
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The most common technologies used for this purpose today are satellite positioning using Global Positioning System (GPS) and Inertial Navigation System (INS) using an Inertial Measurement Unit (IMU). ...
The Kalman Filter (KF) is considered as the optimal estimation tool for real-time INS/GPS integrated kinematic position and orientation determination. ...
Eun-Hwan Shin is acknowledged for providing the INS mechanization and INS/GPS extended Kalman filter used in this article. ...
doi:10.3390/s90402586
pmid:22574034
pmcid:PMC3348803
fatcat:ega3rfs5t5bxvbzwaamfrwtfkm
A Machine Learning Approach for an Improved Inertial Navigation System Solution
2022
Sensors
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Therefore, MEMS-IMU measurements lead to drifts in the solutions when used as a control input to the INS. ...
In this paper, a machine-learning-based adaptive neuro-fuzzy inference system (ML-based-ANFIS) is proposed to leverage the performance of low-grade IMUs in two phases. ...
This process was carried out using a high-end IMU as a reference to provide a suitable model for the low-end IMU in the ML structure. ...
doi:10.3390/s22041687
pmid:35214591
pmcid:PMC8879977
fatcat:m3tu3nnx5rhstbt5cnlck3d5na
Magnetometer and Gyroscope Calibration Method with Level Rotation
2018
Sensors
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The test result is shown in Section 4 by applying an actual MEMS-IMU system, and conclusions are given in Section 5. ...
By removing the attitude matrix, this method obtains a model that does not contain any attitude information, and a nonlinear Kalman filter (KF) is used to estimate calibration parameters. ...
Acknowledgments: This work has been supported in part by the National Natural Science Foundation under Grant 61571148, in part by the Fundamental Research Runs for the Central University under Grant HEUCF041701 ...
doi:10.3390/s18030748
pmid:29494558
pmcid:PMC5876791
fatcat:gm7gwds3lfbohkrbb4tqmzcg2i
Improving Robustness of the MAV Yaw Angle Estimation for Low-Cost INS/GPS Integration Aided by Tri-axial Magnetometer
2019
IET radar, sonar & navigation
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This study designs a method to improve the robustness of the micro air vehicle (MAV) yaw angle estimation for lowcost inertial navigation system/global positioning system (INS/GPS) integration by using ...
The simulation and experiment results show that the proposed method can calibrate the tri-axial magnetometer properly and screen out the abnormal magnetic measurement for the robustness of yaw angle estimation ...
Also, the authors would like to thank their colleagues for their assistance in the experiments. ...
doi:10.1049/iet-rsn.2019.0200
fatcat:yzg2w3hkdfcz3mkfbpw33d7h2u
The Performance Analysis of a Real-Time Integrated INS/GPS Vehicle Navigation System with Abnormal GPS Measurement Elimination
2013
Sensors
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These errors degrade the overall position accuracy of an integrated system that uses conventional INS/GPS integration strategies such as loosely coupled (LC) and tightly coupled (TC) schemes. ...
In most INS/GPS integrated architectures, the GPS is considered to be an accurate reference with which to correct for the systematic errors of the inertial sensors, which are composed of biases, scale ...
Because the goal of this research is to improve the performance of the system using a low-cost MEMS IMU, the data fusion strategy is most critical. ...
doi:10.3390/s130810599
pmid:23955434
pmcid:PMC3812620
fatcat:r6dromysgzfz5gjwjeyel3rygu
MEMS Inertial Sensors Based Gait Analysis for Rehabilitation Assessment via Multi-Sensor Fusion
2018
Micromachines
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This paper aims to build a low-cost, intelligent and lightweight wearable gait analysis platform based on the emerging body sensor networks, which can be used for rehabilitation assessment of patients ...
the proposed method has great potential as an auxiliary for medical rehabilitation assessment. ...
We chose straps over housing shells due to their flexible structure, strong adaptability, lower cost and good maneuverability. ...
doi:10.3390/mi9090442
pmid:30424375
pmcid:PMC6187565
fatcat:xiem77zlbfczbjoubhsraf2the
Field Sensor Bias Calibration with Angular-Rate Sensors: Theory and Experimental Evaluation with Application to Magnetometer Calibration
2019
IEEE/ASME transactions on mechatronics
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Field sensors, such as magnetometers and accelerometers, are widely used sensors for attitude estimation, yet their accuracy is limited by sensor measurement bias. ...
attitude estimation. ...
Henthorn for their contributions to the engineering development and to the R/V Western Flyer officers and crew. ...
doi:10.1109/tmech.2019.2920367
fatcat:77lefwpvxbgfdjpht4hgmay74a
An Adaptive Low-Cost GNSS/MEMS-IMU Tightly-Coupled Integration System with Aiding Measurement in a GNSS Signal-Challenged Environment
2015
Sensors
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The main aim of this paper is to develop a low-cost GNSS/MEMS-IMU tightly-coupled integration system with aiding information that can provide reliable position solutions when the GNSS signal is challenged ...
This approach adopts a novel redundant measurement noise estimation method for an adaptive Kalman filter application and also augments external measurements in the filter to aid the position solutions, ...
Naser EI-Sheimy is highly acknowledged for his review and valuable suggestions. ...
doi:10.3390/s150923953
pmid:26393605
pmcid:PMC4610466
fatcat:z33asojr4ngovgkcasayvf6tki
Bridging GNSS Outages with IMU and Odometry: A Case Study for Agricultural Vehicles
2021
Sensors
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GNSS-RTK, an IMU and wheel speed sensors are fused in an error-state Kalman filter to estimate position and attitude of the vehicle. ...
During these outages, the vehicle's state is propagated using the wheel speed sensors, IMU, and the dynamic model for tracked vehicles. ...
Abbreviations The following abbreviations are used in this manuscript: ...
doi:10.3390/s21134467
pmid:34210053
fatcat:tpsp72enp5cklc3k6f3mwoovui
Adaptive Estimation of Measurement Bias in Three-Dimensional Field Sensors with Angular Rate Sensors: Theory and Comparative Experimental Evaluation
2013
Robotics: Science and Systems IX
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Three-axis magnetometers and three-axis accelerometers are widely used sensors for attitude estimation, yet their accuracy is limited by sensor measurement bias. ...
attitude estimation. ...
Support for the first author was also provided by a Fulbright/Conicyt Fellowship. ...
doi:10.15607/rss.2013.ix.050
dblp:conf/rss/TroniW13
fatcat:5zf2h5vlqfb23h62zrdr7oc26m
Optimization of two GPS/MEMS-IMU integration strategies with application to sports
2009
GPS Solutions
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The application of low-cost L1 GPS receivers integrated with micro-electro-mechanical system (MEMS) inertial measurement units (IMU) allows the continuous observation of position, velocity and orientation ...
The second part of the paper is devoted to the important problem of system initialization, because the conventional GPS/IMU alignment methods are no longer applicable when using MEMS-IMU. ...
For these reasons, we introduced a system that integrates low-cost L1 GPS receivers with low-cost micro-electro-mechanical system (MEMS) inertial measurement units (IMU) . ...
doi:10.1007/s10291-009-0124-5
fatcat:qsmqkeevvbbgplvbnkspweo64m
A New Blondin System for Surveying and Photogrammetry
2013
Sensors
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A cascaded extended Kalman filter is used to integrate measurements from the on-board inertial measurement unit (IMU), a GPS and a GNSS. ...
The georeferencing of the DSM is performed based on estimated camera position or using ground control points (GCPs). ...
The authors would also like to thank the reviewers for their time and their valuable comments. ...
doi:10.3390/s131216894
fatcat:efsdwknhkjfklhg43ipddwy2uy
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