Book•
Inertial navigation systems with geodetic applications
24 Nov 2000-
TL;DR: In this article, the global positioning system (GPS) geodetic application is considered and an initialization and alignment of the GPS system is described in terms of the inertial measurement unit (IMU).
Abstract: Coordinate frames and transformations ordinary differential equations inertial measurement unit inertial navigation system system error dynamics stochastic processes and error models linear estimation INS initialization and alignment the global positioning system (GPS) geodetic application.
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TL;DR: A survey of the information sources and information fusion technologies used in current in-car navigation systems is presented and the pros and cons of the four commonly used information sources are described.
Abstract: In-car positioning and navigation has been a killer application for Global Positioning System (GPS) receivers, and a variety of electronics for consumers and professionals have been launched on a large scale. Positioning technologies based on stand-alone GPS receivers are vulnerable and, thus, have to be supported by additional information sources to obtain the desired accuracy, integrity, availability, and continuity of service. A survey of the information sources and information fusion technologies used in current in-car navigation systems is presented. The pros and cons of the four commonly used information sources, namely, 1) receivers for radio-based positioning using satellites, 2) vehicle motion sensors, 3) vehicle models, and 4) digital map information, are described. Common filters to combine the information from the various sources are discussed. The expansion of the number of satellites and the number of satellite systems, with their usage of available radio spectrum, is an enabler for further development, in combination with the rapid development of microelectromechanical inertial sensors and refined digital maps.
524 citations
Cites background or methods from "Inertial navigation systems with ge..."
...of local filters working in parallel, producing a set of (partial) navigation solutions which subsequently on a periodical basis are blended, with various degrees of optimality, by the master filter [102]....
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...The state estimation can be realized basically in two ways, the centralized filtering mode and the decentralized filtering mode [102], where the choice of mode is related to the system requirements regarding estimation accuracy, computational complexity, possibility of fault detection and fault removal....
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Book•
17 Oct 2012TL;DR: This work aims to provide arobust, scalable, scalable and scalable approach to Indoor Positioning that combines 3D Building Modeling, 3D Targeting, and 3D Sensors into a single system.
Abstract: .............................................................................................................................................................. 6 1 Introduction ............................................................................................................................................. 7 1.1 Motivation .......................................................................................................................................................... 7 1.2 Previous Surveys ............................................................................................................................................. 8 1.3 Overview of Technologies ........................................................................................................................... 9 1.4 Indoor Positioning Applications ............................................................................................................ 11 1.5 Structure of this Work ............................................................................................................................... 14 2 User Requirements ............................................................................................................................. 15 2.1 Requirements Parameters Overview .................................................................................................. 15 2.2 Positioning Requirements Parameters Definition ......................................................................... 17 2.3 Man Machine Interface Requirements ................................................................................................ 19 2.4 Security and Privacy Requirements ..................................................................................................... 20 2.5 Costs .................................................................................................................................................................. 20 2.6 Generic Derivation of User Requirements......................................................................................... 20 2.7 Requirements for Selected Indoor Applications ............................................................................. 21 3 Definition of Terms ............................................................................................................................. 25 3.1 Disambiguation of Terms for Positioning .......................................................................................... 25 3.2 Definition of Technical Terms ................................................................................................................ 27 3.3 The Basic Measuring Principles ............................................................................................................. 29 3.4 Positioning Methods ................................................................................................................................... 31 4 Cameras .................................................................................................................................................. 34 4.1 Reference from 3D Building Models .................................................................................................... 35 4.2 Reference from Images .............................................................................................................................. 36 4.3 Reference from Deployed Coded Targets .......................................................................................... 37 4.4 Reference from Projected Targets ........................................................................................................ 38 4.5 Systems without Reference ..................................................................................................................... 39 4.6 Reference from Other Sensors ............................................................................................................... 40 4.7 Summary on Camera Based Indoor Positioning Systems ........................................................... 40 5 Infrared ................................................................................................................................................... 42 5.1 Active Beacons .............................................................................................................................................. 42 5.2 Imaging of Natural Infrared Radiation ............................................................................................... 43 5.3 Imaging of Artificial Infrared Light ....................................................................................................... 43 5.4 Summary on Infrared Indoor Positioning Systems ....................................................................... 44
522 citations
Cites background or methods from "Inertial navigation systems with ge..."
...2 Combination of Foot Mounted INS and Signal Strength The foot mounted system proposed by Jiménez et al. (2010) relies on Received Signal Strength (RSS) from active RFID tags placed at known coordinates in a building....
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...Comprehensive information about the modes of operation and applications of an INS is given by Jekeli (2001)....
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...If an IMU does not take advantage of local infrastructure, the error growth resembles a quadratic function with the elapsed time (Jekeli 2001)....
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14 Mar 2010
TL;DR: This paper identifies the possibility of using electronic compasses and accelerometers in mobile phones, as a simple and scalable method of localization without war-driving, to enable greater coverage, while eliminating the reliance on WiFi infrastructure and expensive war- driving.
Abstract: This paper identifies the possibility of using electronic compasses and accelerometers in mobile phones, as a simple and scalable method of localization without war-driving. The idea is not fundamentally different from ship or air navigation systems, known for centuries. Nonetheless, directly applying the idea to human-scale environments is non-trivial. Noisy phone sensors and complicated human movements present practical research challenges. We cope with these challenges by recording a person's walking patterns, and matching it against possible path signatures generated from a local electronic map. Electronic maps enable greater coverage, while eliminating the reliance on WiFi infrastructure and expensive war-driving. Measurements on Nokia phones and evaluation with real users confirm the anticipated benefits. Results show a location accuracy of less than 11m in regions where today's localization services are unsatisfactory or unavailable.
350 citations
Cites background from "Inertial navigation systems with ge..."
...Unfortunately, electronic compasses and accelerometers are highly noisy [8] (unless extremely expensive)....
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...Unfortunately, several factors cause fluctuations in acceleration, resulting in erroneous displacements [8]....
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TL;DR: Simulation and experimental results are shown to compare the performance of the sigma-point filter with a standard EKF approach, which shows faster convergence from inaccurate initial conditions in position/attitude estimation problems.
Abstract: A sigma-point Kalman filter is derived for integrating GPS measurements with inertial measurements from gyros and accelerometers to determine both the position and the attitude of a moving vehicle. Sigma-point filters use a carefully selected set of sample points to more accurately map the probability distribution than the linearization of the standard extended Kalman filter (KKF), leading to faster convergence from inaccurate initial conditions in position/attitude estimation problems. The filter formulation is based on standard inertial navigation equations. The global attitude parameterization is given by a quaternion, while a generalized three-dimensional attitude representation is used to define the local attitude error. A multiplicative quaternion-error approach is used to guarantee that quaternion normalization is maintained in the filter. Simulation and experimental results are shown to compare the performance of the sigma-point filter with a standard EKF approach.
338 citations
Patent•
07 Jun 2006TL;DR: In this article, a game operating device (controller) includes a longitudinal housing, and a holding portion held by hand to be wrapped by its palm it is formed in the housing, where a direction switch is provided on an upper surface at a position where it can be operated by thumb of the hand holding the holding portion, and start switch and a select switch are provided backward thereof.
Abstract: A game operating device (controller) includes a longitudinal housing, and a holding portion held by hand to be wrapped by its palm it is formed in the housing. A direction switch is provided on an upper surface at a position where it can be operated by thumb of the hand holding the holding portion, and a start switch and a select switch are provided backward thereof. An X button 46 and a Y button are further arranged in line on the upper surface of the housing. An imaging information arithmetic unit is provided at a front end of the housing in a longitudinal direction in such a manner that an imaging device thereof is exposed from a front-end surface. A concave portion is formed on a lower surface at a position corresponding to the direction switch. The concave portion includes a valley and two inclined surfaces. An A button capable of being operated by index finger of the hand holding the holding portion is provided on the backward inclined surface. By processing an image signal obtained by imaging an infrared ray from LED modules by the imaging device, it is possible to obtain an operation signal varying according to a position and/or attitude of the controller.
240 citations