On the Usage of Low-Cost MEMS Sensors, Strapdown Inertial Navigation, and Nonlinear Estimation Techniques in Dynamic Positioning

A Robust Nonlinear Observer for Real-Time Attitude Estimation Using Low-Cost MEMS Inertial Sensors

This paper deals with the attitude estimation of a rigid body equipped with angular velocity sensors and reference vector sensors. A quaternion-based nonlinear observer is proposed in order to fuse all information sources and to obtain an accurate estimation of the attitude. It is shown that the observer error dynamics can be separated into two passive subsystems connected in "feedback". Then, ...

On-Line Smoothing for an Integrated Navigation System with Low-Cost MEMS Inertial Sensors

The integration of the Inertial Navigation System (INS) and the Global Positioning System (GPS) is widely applied to seamlessly determine the time-variable position and orientation parameters of a system for navigation and mobile mapping applications. For optimal data fusion, the Kalman filter (KF) is often used for real-time applications. Backward smoothing is considered an optimal post-proces...

An Indoor Positioning Method with MEMS Inertial Sensors

A new method is put forward to realize pedestrian’s localization by inertial sensor in indoor environment, the positioning method is through pedestrian’s motion information which is collected by an IMU system to achieve pedestrian’s positioning. The pedestrian’s gait is getting by fusion of acceleration data and gyro data, it is improved the traditional method which discriminate pedestrian’s ga...

Error Analysis and Reduction for Shearer Positioning using the Strapdown Inertial Navigation System

Shearer dynamic positioning is a key factor for coal mine equipment automation, and it is feasible to shearer positioning using the strapdown inertial navigation system(SINS). Yet, it is very difficult to guarantee positioning accuracy by error influence. This paper provided a method for shearer positioning error analysis. Firstly, we built the shearer state equation and put forward a method ca...

ANALYZING AND MODELING LOW-COST MEMS IMUS FOR USE IN AN INERTIAL NAVIGATION SYSTEM by