Inertial Indoor Navigation System
نویسندگان
چکیده
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, while the direction of the user is determined from the gyroscope angular rate data. As no infrastructure is used, the cost of such a system is low, but at the same time the lack of infrastructure represents its highest limitation. More exactly, for long periods of time the errors are cumulating in the navigation solution determining the deterioration of its accuracy. This limitation can be suppressed by using robust algorithms that can estimate and compensate these errors from the accelerometer and gyroscope signals.
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