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,...

This paper describes the design, operation, and test results of a miniature, low cost integrated GPS/inertial navigation system that uses commercial off-the-shelf Micro-Electro-Mechanical System (MEMS) accelerometers and gyroscopes. The MEMS inertial measurement unit (IMU) is packaged in a small size and provides the raw IMU data through a serial interface to a processor board where the inertia...

In this paper, with the aim of estimating internal dynamics matrix of a gimbaled Inertial Navigation system (as a discrete Linear system), the discretetime Hamilton-Jacobi-Bellman (HJB) equation for optimal control has been extracted. Heuristic Dynamic Programming algorithm (HDP) for solving equation has been presented and then a neural network approximation for cost function and control input ...

This paper describes the design, operation and performance test results of a miniature, low cost integrated GPS/inertial navigation system (INS) designed for use in UAV or UGV guidance systems. The system integrates a miniaturized commercial GPS with a low grade Micro-Electro-Mechanical (MEMS) inertial measurement unit (IMU). The MEMS IMU is a small self-contained package (< 1 cu inch) and incl...

Today GPS aided inertial navigation is widely used and well studied in any aspects. The good short term properties of inertial data are complemented by the long term stability of the GPS signal. A common approach is to use a Kalman filter for fusing GPS and inertial data to constrain the inertial sensor drift. Although this is working well in many applications there is a need to find a similar ...

In this paper, we propose a novel visual–inertial simultaneous localization and mapping (SLAM) method for intelligent navigation systems that aims to overcome the challenges posed by dynamic or large-scale outdoor environments. Our approach constructs system utilizing virtual inertial sensor components are mapped torso IMU under different gait patterns through classification. We apply zero-velo...

Individual differences have been shown to lead to different navigation styles. In this paper we present a pilot study that aims at finding predictors for users’ vulnerability to experience disorientation that can be gathered unobtrusively and in real-time. We identified two navigation styles that we called flimsy navigation and laborious navigation that together predict users’ perceived disorie...

Guidance of aerial systems is generally based upon inertial navigation sensors and Global Positioning System. Inertial navigation sensors are assumed accurate and reliable for short duration of flights. Error of inertial navigation sensors accumulates and ultimately drifts from actual position increases with flight duration. On the other hand, Global Positioning System (GPS) is independent of f...