Open Access
An introduction to inertial navigation
TLDR
This work introduces inertial navigation, focusing on strapdown systems based on MEMS devices, and concludes that whilst MEMS IMU technology is rapidly improving, it is not yet possible to build a MEMS based INS which gives sub-meter position accuracy for more than one minute of operation.Citations
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Posted Content
AirSim: High-Fidelity Visual and Physical Simulation for Autonomous Vehicles
TL;DR: A new simulator built on Unreal Engine that offers physically and visually realistic simulations for autonomous vehicles in real world and that is designed from the ground up to be extensible to accommodate new types of vehicles, hardware platforms and software protocols.
Book ChapterDOI
AirSim: High-Fidelity Visual and Physical Simulation for Autonomous Vehicles
TL;DR: In this paper, the authors present a new simulator built on Unreal Engine that offers physically and visually realistic simulations for autonomous vehicles in real-world environments, including a physics engine that can operate at a high frequency for real-time hardware-in-the-loop (HITL) simulations with support for popular protocols (e.g., MavLink).
Journal ArticleDOI
A Survey of Indoor Inertial Positioning Systems for Pedestrians
TL;DR: It is concluded that PDR techniques alone can offer good short- to medium- term tracking under certain circumstances, but that regular absolute position fixes from partner systems will be needed to ensure long-term operation and to cope with unexpected behaviours.
Journal ArticleDOI
Activity identification using body-mounted sensors — a review of classification techniques
Stephen J. Preece,John Y. Goulermas,Laurence Kenney,Dave Howard,Kenneth Meijer,Robin H. Crompton +5 more
TL;DR: This article reviews the different techniques which have been used to classify normal activities and/or identify falls from body-worn sensor data and illustrates the variety of approaches which have previously been applied.
Proceedings ArticleDOI
Pedestrian localisation for indoor environments
Oliver J. Woodman,Robert Harle +1 more
TL;DR: This paper looks at how a foot-mounted inertial unit, a detailed building model, and a particle filter can be combined to provide absolute positioning, despite the presence of drift in the inertial units and without knowledge of the user's initial location.
References
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Book
Strapdown inertial navigation technology
David Titterton,John Weston +1 more
TL;DR: In this paper, the physical principles of inertial navigation, the associated growth of errors and their compensation, and their application in a broad range of applications are discussed, drawing current technological developments and providing an indication of potential future trends.
Journal ArticleDOI
Pedestrian tracking with shoe-mounted inertial sensors
TL;DR: The NavShoe device provides not only robust approximate position, but also an extremely accurate orientation tracker on the foot, which can greatly reduce the database search space for computer vision, making it much simpler and more robust.
Dissertation
Inertial and magnetic sensing of human motion
TL;DR: This thesis deals with ambulatory position and orientation measurements of human body segments using inertial and magnetic sensing and actuation on the body, motion analysis can be performed anywhere, without the need for an expensive lab.