The Department of Mechanical Engineering and Avionics Engineering Center at Ohio University are developing an electromechanical system for the calibration of an inertial measurement unit (IMU) using global positioning system (GPS) antennas. The GPS antennas and IMU are mounted to a common platform to be oriented in the angular roll, pitch, and yaw motions. Vertical motion is also included to te...

This paper introduces a method for the robust estimation of foot clearance during walking, using a single inertial measurement unit (IMU) placed on the subject's foot. The proposed solution is based on double integration and drift cancellation of foot acceleration signals. The method is insensitive to misalignment of IMU axes with respect to foot axes. Details are provided regarding calibration...

Techniques are described in the following paper to incorporate a GPS with an IMU sensor to produce more accurate positions and attitude dynamics for geo-reference images of roadways. An Extended Kalman Filter (EKF) provides the possibility to integrate values from the two sources whilst minimizing errors to provide an accurate trajectory of the vehicle. Preliminary tests have shown that the use...

A smart munition revolves by 2~3Hz when it flights. Before guidance starts, the roll estimation of a smart munition is an important factor to improve the navigation performance. The roll estimation algorithm is already known using IMU and GPS. But GPS can’t be available as a measurement under GPS jamming environment. This paper explains how to estimate the roll angle of a smart munition under j...

Just to explain a little about the motivation for this topic, the project I was working on was called “PROSPECT: Wide Area Prospecting Using Supervised Autonomous Robots.” Our goal was to develop a semi-autonomous mutli-robot supervision architecture. One of the major issues for rover navigation is knowing attitude and position. Our initial idea was to use a combination of IMU, GPS and odometry...

This paper proposes a novel data-driven approach for inertial navigation, which learns to estimate trajectories of natural human motions just from an inertial measurement unit (IMU) in every smartphone. The key observation is that human motions are repetitive and consist of a few major modes (e.g., standing, walking, or turning). Our algorithm regresses a velocity vector from the history of lin...

Assistive robots have a great potential to address issues related to an aging population and an increased demand for caregiving. Successful deployment of robots working in close proximity with people requires consideration of both safety and human–robot interaction (HRI). One of the established activities of daily living where robots could play an assistive role is dressing. Using the correct f...

Inertial Measurement Units (IMUs) are often used to measure motion parameters of human body in indoor/outdoor localization applications. Most of commercially available low-cost IMUs have limited number of sensors and are often connected to a computer by a wired connection (usually by USB). The disadvantage of using wired IMUs in human gait measurement is that, the wires disturb the natural gait...

This paper presents low computational-complexity methods for micro-aerial-vehicle localization in GPSdenied environments. All the presented algorithms rely only on the data provided by a single onboard camera and an Inertial Measurement Unit (IMU). This paper deals with outlier rejection and relativepose estimation. Regarding outlier rejection, we describe two methods. The former only requires ...