Topic
Gyroscope
About: Gyroscope is a research topic. Over the lifetime, 17467 publications have been published within this topic receiving 159884 citations. The topic is also known as: gyroscopes.
Papers published on a yearly basis
Papers
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12 Sep 2005TL;DR: A complementary Kalman filter design to estimate orientation of human body segments by fusing gyroscope, accelerometer, and magnetometer signals from miniature sensors shows accurate and drift-free orientation estimates.
Abstract: This paper describes a complementary Kalman filter design to estimate orientation of human body segments by fusing gyroscope, accelerometer, and magnetometer signals from miniature sensors. Ferromagnetic materials or other magnetic fields near the sensor module disturb the local earth magnetic field and, therefore, the orientation estimation, which impedes many (ambulatory) applications. In the filter, the gyroscope bias error, orientation error, and magnetic disturbance error are estimated. The filter was tested under quasi-static and dynamic conditions with ferromagnetic materials close to the sensor module. The quasi-static experiments implied static positions and rotations around the three axes. In the dynamic experiments, three-dimensional rotations were performed near a metal tool case. The orientation estimated by the filter was compared with the orientation obtained with an optical reference system Vicon. Results show accurate and drift-free orientation estimates. The compensation results in a significant difference (p<0.01) between the orientation estimates with compensation of magnetic disturbances in comparison to no compensation or only gyroscopes. The average static error was 1.4/spl deg/ (standard deviation 0.4) in the magnetically disturbed experiments. The dynamic error was 2.6/spl deg/ root means square.
551 citations
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13 Oct 2009TL;DR: This paper uses low-performance Micro-Electro-Mechanical inertial sensors attached to the foot of a person, and describes, implements and compares several of the most relevant algorithms for step detection, stride length, heading and position estimation.
Abstract: Human localization is a very valuable information for smart environments. State-of-the-art Local Positioning Systems (LPS) require a complex sensor-network infrastructure to locate with enough accuracy and coverage. Alternatively, Inertial Measuring Units (IMU) can be used to estimate the movement of a person, by detecting steps, estimating stride lengths and the directions of motion; a methodology that is called Pedestrian Dead-Reckoning (PDR). In this paper, we use low-performance Micro-Electro-Mechanical (MEMS) inertial sensors attached to the foot of a person. This sensor has triaxial orthogonal accelerometers, gyroscopes and magnetometers. We describe, implement and compare several of the most relevant algorithms for step detection, stride length, heading and position estimation. The challenge using MEMS is to provide location estimations with enough accuracy and a limited drift. Several tests were conducted outdoors and indoors, and we found that the stride length estimation errors were about 1%. The positioning errors were almost always below 5% of the total travelled distance. The main source of positioning errors are the absolute orientation estimation.
551 citations
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TL;DR: This study investigated the possibility of using uni-axial gyroscopes to develop a simple portable gait analysis system by automatically resetting the system to re-initialise the angle in each gait cycle, and high-pass filtering.
518 citations
01 Jan 1995
459 citations
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TL;DR: In this article, the Sagnac effect was applied to the SAGA-effect interferometer gyroscope with a short-term rotation-rate sensitivity of 6×10−10 rad s−1 over 1 s integration.
Abstract: We reports improvements to our Sagnac effect matter-wave interferometer gyroscope. This device now has a short-term rotation-rate sensitivity of 6×10−10 rad s−1 over 1 s of integration, which is the best publicly reported value to date. Stimulated Raman transitions are used to coherently manipulate atoms from counterpropagating thermal beams, forming two interferometers with opposite rotation phase shifts, allowing rotation to be distinguished from acceleration and laser arbitrary phase. Furthermore, electronically compensating the rotation-induced Doppler shifts of the Raman lasers allows operation at an effective zero rotation rate, improving sensitivity and facilitating sensitive lock-in detection readout techniques. Long-term stability is promising but not yet fully characterized. Potential applications include inertial navigation, geophysical studies and tests of general relativity.
409 citations