This report presents integrity monitoring and integration methods for an Inertial Measurement Unit (imu) and a gps receiver. The methods are applied to data from a Maxus sounding rocket used for microgravity research. It is crucial to determine the rocket position during launch to ensure a safe landing location. Today, the navigation relies on imu integration only. Involving a gps receiver enha...

Precise autonomous navigation remains a substantial challenge to all underwater platforms. Inertial Measurement Units (IMU) and Doppler Velocity Logs (DVL) have complementary characteristics and are promising sensors that could enable fully autonomous underwater navigation in unexplored areas without relying on additional external Global Positioning System (GPS) or acoustic beacons. This paper ...

An Inertial Navigation System (INS) can easily track position, velocity and orientation of any moving vehicle. Generally, deterministic errors are present in an uncalibrated Inertial Measurement Unit (IMU) which leads to the requirement of an accurate estimation of navigation solution. These inertial sensors, thus, needs to be calibrated to reduce the error inherent in these systems. By mathema...

This paper presents a novel systematic approach to identify the dynamic parameters of robotic manipulators. A sequential identification procedure is firstly proposed to deal with the difficulties usually encountered with standard approaches. An all-accelerometer inertial measurement unit (IMU) is also suggested to estimate the joint velocities and accelerations, which are traditionally obtained...

Current implementations of spatially-aware multi-surface environments rely heavily on instrumenting the room with different tracking technologies (e.g. Microsoft Kinect, Vicon Cameras). Prior research, however, has shown that real-world deployment using such approaches leads to feasibility issues and users being uncomfortable with the technology in the environment. In this work, we attempt to a...

Walking underwater reduces joint impacts, enhances stability and lowers the net body weight of patient during rehabilitation. It is a recent rehabilitation method few suitable methods exist to study gait kinematics. We propose an inertial measurement (IMU) system analogous those used in land-based investigate The objective this was test validate proposed two human trials by evaluating knee angl...

We propose a new position regulation strategy for VTOL-UAVs using IMU and GPS measurements. Since there is no sensor that measures the attitude, our approach does not rely on the knowledge (or reconstruction) of the system orientation as usually done in the existing literature. Instead, IMU and GPS measurements are directly incorporated in the control law. An important feature of the proposed s...

In recent years, security of autonomous vehicles is emerging as popular research topics. Especially, autonomous vehicles are equipped with many sensors such as GPS, IMU, wheel encoders and some of them are vulnerable to the attack, such as spoofing. Our objective is to detect and classify attacks of the right encoder sensor by using variables of GPS, IMU, two wheel encoder sensors. We also anal...

This research studies the reduction and the estimation of the noise level within a redundant configuration of low-cost (MEMS-type) inertial measurement units (IMUs). Firstly, independent observations between units and sensors are assumed and the theoretical decrease in the system noise level is analyzed in an experiment with four MEMS-IMU triads. Then, more complex scenarios are presented in wh...