Position Measurement in Inertial Systems
نویسنده
چکیده
In this paper the principles of position and orientation measurement are explained and its implementation on an Initial Measurement Unit (IMU) are show. The first part is about motivation for position measurement, dealing with industrial applications. Then we proceed to mathematical basics of attitude representation and figure out the advantages and weaknesses of the specific types of representation. Next is to give a brief of modern sensor technology. At last we show how to enhance the performance of a strapdown Inertial Measurement Unit using Kalman filtering.
منابع مشابه
Applications of Inertial Navigation Systems in Medical Engineering
Inertial navigation systems are of the most important and practical systems in determining the velocity, position and attitude of the vehicles and different equipment. In these systems, three accelerometers and three gyroscopes are used to measure linear accelerations and angular velocities of vehicles, respectively. By using the output of these sensors and special inertial algorithms in differ...
متن کاملPrecision and Reliability Incensement of Inertial Navigation System with Rotation and Redundancy
Precision and reliability are two main performance characteristic in low-cost Inertial Navigation System(INS). Increase of precision in low-cost INS without auxiliary sensors is main challenge. Bias instability leads to position drift error in inertial navigation system. In addition, fault occurrence makes the sensor reliability is decreased. Rotation of Inertial Measurement Unit(RIMU) and use ...
متن کاملA Real-time Motion Tracking Wireless System for Upper Limb Exosuit Based on Inertial Measurement Units and Flex Sensors (TECHNICAL NOTE)
This paper puts forward a real-time angular tracking (motion capture) system for a low cost upper limb exosuit based on sensor fusion; which is integrated by an elastic sleeve-mitten, two inertial measurement units (IMU), two flex sensors and a wireless communication system. The device can accurately detect the angular position of the shoulder (flexion-extension, abduction-adduction and interna...
متن کاملطراحی و پیادهسازی الگوریتم ناوبری AHRS/GPS/DR برای روندههای زیرسطحی خودگردان با برد بلند و ماندگاری بالا در زیر آب
Time-growing navigation error due to inevitable measurement errors in the MEMS-grade inertial sensor is one of the main challenges in low-cost inertial navigation systems (INSs). This paper aims to develop AHRS/GPS/DR integrated navigation algorithm for long-range autonomous underwater vehicle (AUV). Proper performance in deals with long-term GPS outage is the main advantage of the proposed low...
متن کاملMobile Robot Navigation Error Handling Using an Extended Kalman Filter
Obviously navigation is one of the most complicated issues in mobile robots. Intelligent algorithms are often used for error handling in robot navigation. This Paper deals with the problem of Inertial Measurement Unit (IMU) error handling by using Extended Kalman Filter (EKF) as an Expert Algorithms. Our focus is put on the field of mobile robot navigation in the 2D environments. The main chall...
متن کامل