Inertial Pocket Navigation System: Unaided 3D Positioning

Inertial Pocket Navigation System: Unaided 3D Positioning

Inertial navigation systems use dead-reckoning to estimate the pedestrian's position. There are two types of pedestrian dead-reckoning, the strapdown algorithm and the step-and-heading approach. Unlike the strapdown algorithm, which consists of the double integration of the three orthogonal accelerometer readings, the step-and-heading approach lacks the vertical displacement estimation. We prop...

Adaptive Fusion of Inertial Navigation System and Tracking Radar Data

Against the range-dependent accuracy of the tracking radar measurements including range, elevation and bearing angles, a new hybrid adaptive Kalman filter is proposed to enhance the performance of the radar aided strapdown inertial navigation system (INS/Radar). This filter involves the concept of residual-based adaptive estimation and adaptive fading Kalman filter and tunes dynamically the fil...

Inertial Indoor Navigation System

This paper represents a first step in developing an indoor navigation system based only on Micro-Electro-Mechanical Systems (MEMS) accelerometer and gyroscope sensors. The major advantage of the proposed inertial navigation system consists on the fact that it does not require any complex infrastructure to be able to operate. For determining the distance it uses three axis accelerometer sensors,...

Micro Inertial Navigation System

Inertial-Kinect Fusion for Outdoor 3D Navigation

The lightweight and low-cost 3D sensing device, such as Microsoft Kinect, has gained much attention in computer vision and robotics community. Although quite promising and successful for indoor applications, its outdoor usage has been significantly hampered by its short detection range (around 4 meters) coupled with ambient infrared interference. This paper addresses the theoretical and practic...