This research describes a Hardware in the Loop Simulator (HILS) that was developed to enhance the quality of attitude data received from autopilots. The described system aided in adjusting the contribution of individual IMU sensors and thereby improved the accuracy of IMU data. The HILS system outlined in this research is a gimbaled platform equipped with four stepper motors and two optical sha...

Although GNSS/IMU integration has been studied for decades, an efficient estimator of their integration has remained a challenge. In the statistical approaches, the observation model of sensors and distribution of data must be known beforehand. This paper proposes a deep learning based approach to integrate GPS and reduced IMU information. In contrast to statistical approaches, our approach lea...

As various inertial measurement units (IMUs) from different manufacturers appear every year, it is not affordable to evaluate every IMU through tests. Therefore, this paper presents an IMU evaluation method by grafting data from the tested IMU to the reference data from a higher-grade IMU. The signal grafting (SG) method has several benefits: (a) only one set of field tests with a higher-grade ...

This paper introduces a positioning system for walking persons, called “Personal Dead-reckoning” (PDR) system. The PDR system does not require GPS, beacons, or landmarks. The system is therefore useful in GPS-denied environments, such as inside buildings, tunnels, or dense forests. Potential users of the system are military and security personnel as well as emergency responders. The PDR system ...

Omnidirectional cameras are versatile sensors that are able to provide a full 360-degree view of the environment. When combined with inertial sensing, omnidirectional vision offers a potentially robust navigation solution. However, to correctly fuse the data from an omnidirectional camera and an inertial measurement unit (IMU) into a single navigation frame, the 6-DOF transform between the sens...

This study examined the reliability and validity of an inertial measurement unit (IMU) for measuring orientation angle. An IMU was mounted onto a goniometer and moved through 0-90° with data collected at 10° increments. The process was repeated 10 times for all 3 axes. Reliability was measured via a typical error (TE) analysis from the 10 repeated trials. Validity was determined via a Pearson c...

This paper deals with the diagnostic design of an Inertial Measurement Unit (IMU). IMU are widely used for system positioning. Their goal is to sense the attitude (or orientation) of a rigid body on which the IMU is embedded. In this paper, the sensors used in the IMU are a tri-axis accelerometer, a tri-axis magnetometer and 3 rate gyros. The diagnostic method proposed in this paper is independ...