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Self-Alignment MEMS IMU Method Based on the Rotation Modulation Technique on a Swing Base

Haifeng Xing, Zhiyong Chen, Haotian Yang, Chengbin Wang, Zhihui Lin, Meifeng Guo
2018 Sensors  
The micro-electro-mechanical-system (MEMS) inertial measurement unit (IMU) has been widely used in the field of inertial navigation due to its small size, low cost, and light weight, but aligning MEMS  ...  Then, inertial frame-based alignment using the rotation modulation technique (RMT-IFBA) achieved coarse alignment on the swing base.  ...  The authors would like to thank Peng Yin, Guisong Mao, Zihao Liu and Gang Liu of Tsinghua University for discussions and support.  ... 
doi:10.3390/s18041178 pmid:29649150 pmcid:PMC5948697 fatcat:pff3jjmnhva7rmdnxky2p5pe3i

Principles of GNSS, inertial, and multisensor integrated navigation systems, 2nd edition [Book review]

Paul D. Groves
2015 IEEE Aerospace and Electronic Systems Magazine  
Integrated navigation is served by a navigation-focused chapter on Kalman filtering, together with chapters on inertial navigation system (INS)/GNSS integration, including deep, and on multisensor integration  ...  Kalman Filter Applications Kalman filter-based estimation techniques have many applications in navigation, including fine alignment and calibration of INS, GNSS navigation, GNSS signal monitoring, INS/  ...  GNSS C /N 0 measurement, and inertial navigation.  ... 
doi:10.1109/maes.2014.14110 fatcat:iwowfiidazbljiamuiyjv6363u

Design, Implementation, And Performance In The Urban Canyon Of A Low-Cost Gnss/Ins/Odometric Sensor Fusion Platform For Ground Intelligent Transportation Systems

Javier Arribas, Ana Moragrega, Carles Fernández-Prades, Pau Closas
2017 Zenodo  
For many applications in Intelligent Transport Systems (ITS), the position and heading information of vehicles and Vulnerable Road Users (VRU) cannot generally rely on the performance of the Global Navigation  ...  This paper discusses the design, implementation and performance validation of multisensor positioning based on GNSS, Inertial Measurement Units (IMU), and Odometric information for ground ITS applications  ...  ACKNOWLEDGEMENTS This work was supported in part by the TIMON Project: Enhanced real time services for an optimized multimodal mobility relying on cooperative networks and open data and in part by the  ... 
doi:10.5281/zenodo.1002179 fatcat:detg4vwphjcqbgrw5rtacj7xle

A Robust Fusion Methodology for MEMS-based Land Vehicle Navigation in GNSS-Challenged Environments

Song Yue, Li Cong, Honglei Qin, Bin Li, Jintao Yao
2020 IEEE Access  
micro-electro mechanical system (MEMS)-based inertial sensors during GNSS outages.  ...  How to effectively blend global navigation satellite system (GNSS) and inertial navigation system (INS) data to achieve an optimal solution in harsh environments has always been an urgent task.  ...  An eleven-state Kalman filter is constructed based on the INS error model.  ... 
doi:10.1109/access.2020.2977474 fatcat:jlp5l2jnejb4lnry25dsj6mamm

Data Fusion Algorithms for Multiple Inertial Measurement Units

Jared B. Bancroft, Gérard Lachapelle
2011 Sensors  
A single low cost inertial measurement unit (IMU) is often used in conjunction with GPS to increase the accuracy and improve the availability of the navigation solution for a pedestrian navigation system  ...  Since accuracy and availability are the most important characteristics of a pedestrian navigation system, the analysis of each filter's performance focuses on these two parameters.  ...  This forms the basis of a VIMU Kalman filter. A VIMU Kalman filter further reduces noise and can enhance navigation performance.  ... 
doi:10.3390/s110706771 pmid:22163985 pmcid:PMC3231672 fatcat:oi6jusjjmjcwrcloijuri3h2qi

GNSS Indoor Location Technologies

Gérard Lachapelle
2004 Journal of Global Positioning Systems  
Current and emerging users and their potential requirements are first discussed. Signal attenuation and multipath caused under indoor environments are described.  ...  These include measurement noise, existing signal structure and future enhancements, frequency and time errors, user motion, sensor aiding such as ultra-tight integration, and solution reliability and continuity  ...  Ma and M. Petovello, senior research associates, and D. Dao, O. Julien, D. Karunanayake, H. Kuusniemi, O. Mezentsev, and B. Zheng, MSc and PhD candidates.  ... 
doi:10.5081/jgps.3.1.2 fatcat:zlegxxrlqrcx7gc5p6olljzcbm

The IPIN 2019 Indoor Localisation Competition -Description and Results

Francesco Potorti, Sangjoon Park, Antonino Crivello, Filippo Palumbo, Michele Girolami, Paolo Barsocchi, Soyeon Lee, Joaquin Torres-Sospedra, Antonio Ramon Jimenez, Antoni Perez-Navarro, German M. Mendoza-Silva, Fernando Seco (+74 others)
2020 IEEE Access  
ACKNOWLEDGEMENTS Thanks to Siemens, the Electronic and Telecommunications Research Institute (ETRI), the Korean Institute of Communications and Information Sciences (KICS), Ganko Food, J-Power Systems  ...  and the other sponsors who provided prizes for the winners of the competition (see http: // for a complete list).  ...  Based on the described measurements, corrections of the navigation solution and the bias values of the inertial sensors are calculated by an error-state Kalman filter.  ... 
doi:10.1109/access.2020.3037221 fatcat:5qeoqek6x5enhdemchslojhotu

Dynamical Analysis of a Navigation Algorithm

Mireya Cabezas-Olivenza, Ekaitz Zulueta, Ander Sánchez-Chica, Adrian Teso-Fz-Betoño, Unai Fernandez-Gamiz
2021 Mathematics  
The use of neural networks for image processing is considered to constitute the most robust and flexible method for realising a navigation algorithm.  ...  In conjunction with the navigation algorithm, the present work satisfactorily solves the localization problem, also known as simultaneous localization and mapping (SLAM).  ...  [1] studied, combined with an inertial navigation system, where measurements are taken by an encoder.  ... 
doi:10.3390/math9233139 fatcat:qigifqblnnf6tmfdmn4grquupu

2008 Index IEEE Transactions on Automatic Control Vol. 53

2008 IEEE Transactions on Automatic Control  
The primary entry includes the coauthors' names, the title of the paper or other item, and its location, specified by the publication abbreviation, year, month, and inclusive pagination.  ...  The Subject Index contains entries describing the item under all appropriate subject headings, plus the first author's name, the publication abbreviation, month, and year, and inclusive pages.  ...  . , TAC May 2008 1085-1091 Image sequences On an Optical Inertial Navigation System-Part I. Iyer, R., +, TAC Sept. 2008 1850-1863 Inertial navigation On an Optical Inertial Navigation System-Part I.  ... 
doi:10.1109/tac.2008.2010902 fatcat:5d76tgkjnvhohntuilcvl3jb3i


Shubham Jain, Carlo Borgiattino, Yanzhi Ren, Marco Gruteser, Yingying Chen, Carla Fabiana Chiasserini
2015 Proceedings of the 13th Annual International Conference on Mobile Systems, Applications, and Services - MobiSys '15  
This approach is different from existing shoe sensing solutions that focus on dead reckoning and inertial navigation.  ...  In this work, we use shoe-mounted inertial sensors for location classification based on surface gradient profile and step patterns.  ...  Acknowledgments This material is based in part upon work supported by the Na-  ... 
doi:10.1145/2742647.2742669 dblp:conf/mobisys/JainBRGCC15 fatcat:cgq6agi6ejap5asu7q4pdcht64

2019 Index IEEE Transactions on Signal Processing Vol. 67

2019 IEEE Transactions on Signal Processing  
Inverse Filtering for Counter-Autonomous Systems. Krishnamurthy, V., +, TSP Dec. 15, 2019 6511-6525 Iterated Extended Kalman Smoother-Based Variable Splitting for L 1 -Regularized State Estimation.  ...  Koldovsky, Z., +, TSP Feb. 15, 2019 1050-1064 Inertial navigation Multivariate Signal Modeling With Applications to Inertial Sensor Calibration.  ... 
doi:10.1109/tsp.2020.2968163 fatcat:dvvpqntb2rc2bjed5nnk4xora4


Benjamin Nuernberger, Eyal Ofek, Hrvoje Benko, Andrew D. Wilson
2016 Proceedings of the 2016 CHI Conference on Human Factors in Computing Systems - CHI '16  
Our prototype (a) extracts real world planar surfaces and edges as constraints so that users can easily align virtual content to the real world via snapping (b, c).  ...  a) (b) (c) (d) Figure 1: SnapToReality allows users to easily position, orient, and scale AR virtual content with respect to real world constraints.  ...  ACKNOWLEDGMENTS We thank Michael Waechter and the anonymous reviewers for their helpful feedback.  ... 
doi:10.1145/2858036.2858250 dblp:conf/chi/NuernbergerOBW16 fatcat:zp5rtoij5zcgrgipqc2cieuc4y

Accurate Autonomous Landing of a Fixed-Wing Unmanned Aircraft under Crosswind Conditions

Andrew de Bruin, Thomas Jones
2016 IFAC-PapersOnLine  
Embedded Software An Extended Kalman Filter (EKF) implemented on one of the dsPIC microcontrollers is responsible for state estimation based on GPS, IMU, and magnetometer measurements.  ...  techniques and using an Extended Kalman Filter (EKF) for non-linear state estimation.  ...  RADIO: Let the aircraft fly one full circuit and then activate the sudo landing flag. RADIO: Are you happy with the aircraft approach and airspeed? RADIO: Activating landing flag for crabbed landing.  ... 
doi:10.1016/j.ifacol.2016.09.030 fatcat:qdtxzefgmfgmpio72ustobbqhy

Visual detection of vehicles using a bag-of-features approach

Pedro Pinto, Ana Tome, Vitor Santos
2013 2013 13th International Conference on Autonomous Robot Systems  
Chauhan, and L. Lopes for the technical support and help. ACKNOWLEDGEMENTS The authors acknowledge the major support given by the ISEP-IPP Institution and by the INESC TEC, to this project.  ...  e Tecnologia (Portuguese Foundation for Science and Technology) within project FCOMP -01-0124-FEDER-022701.  ...  Kalman Filter-based Object Tracking In order to track the object efficiently and robustly we used a standard Kalman Filter (KF).  ... 
doi:10.1109/robotica.2013.6623539 fatcat:ialsxj53yzfkfe5f766krtkkrq

Global navigation satellite systems performance analysis and augmentation strategies in aviation

Roberto Sabatini, Terry Moore, Subramanian Ramasamy
2017 Progress in Aerospace Sciences  
Alternatives include the Bryson-Frazier two filter smoother, Monte Carlo smoother, etc. The filtering algorithm most commonly implemented in real-time systems is the Bierman's U-D Factorised KF.  ...  In case of small UAS, GNSS measurements can be integrated with other navigation sensors/systems including Inertial Navigation System (INS), Vision-based Navigation Sensors (VBN), Celestial Navigation Sensors  ... 
doi:10.1016/j.paerosci.2017.10.002 fatcat:bgb4vcnv5jfnvddfi6hak62d5e
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