Topic
Inertial navigation system
About: Inertial navigation system is a research topic. Over the lifetime, 14582 publications have been published within this topic receiving 190618 citations. The topic is also known as: intertial guidance system & inertial reference platform.
Papers published on a yearly basis
Papers
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TL;DR: A new quaternion-based Kalman filter for estimating human body orientation using an inertial/magnetic sensor using a vector selector scheme, which effectively adds the gyro measurement to the so-called Wahba's problem that conventionally uses only the accelerometer and magnetometer measurements.
Abstract: This paper describes a new quaternion-based Kalman filter (KF) for estimating human body orientation using an inertial/magnetic sensor. The proposed algorithm is comprised of a quaternion measurement step and a KF step that are connected in feedback relationship. This allows the algorithm to have a minimum-order structure (i.e., fourth order) that is computationally very efficient. Furthermore, to offer more reliable information to the quaternion measurement step, a vector selector scheme is adopted, which effectively adds the gyro measurement to the so-called Wahba's problem that conventionally uses only the accelerometer and magnetometer measurements. This protects the algorithm against undesirable conditions such as fast movements and temporary magnetic disturbances, enabling it to compute an accurate orientation estimate. Due to the computational efficiency of the algorithm, it is suitable for real-time ambulatory human motion tracking applications that require multiple and untethered inertial/magnetic sensors with low-cost onboard processing.
73 citations
TL;DR: The article discusses four primary topics, namely, system design options, environments and mitigation techniques, preflight calibration and alignment (C&A) in-flight navigation mechanizations, and test and verification.
Abstract: This article provides an overview of the technical challenges and solutions for ISP designers for strategic inertial navigation systems (INSs). The design descriptions herein are mostly generic, with occasional references to existing or past strategic systems. The article discusses four primary topics, namely, system design options, environments and mitigation techniques, preflight calibration and alignment (C&A) in-flight navigation mechanizations, and test and verification. IEEE standard terminology of inertial sensors and inertial systems is used throughout the article. The best-known application of ISPs is stabilization and control of payloads such as electro-optical sensors and laser beams. Perhaps less well known is that ISPs are used in a variety of aircraft and missile navigation systems. With the introduction of digital computers, the breadth of application of ISPs for navigation began to diminish, and strapdown INS became prevalent. This trend has accelerated with the navigation aiding of the global positioning system (GPS), which can render a strapdown inertial measurement unit (IMU) more accurate than the best ISPs. Today, only self-contained precision navigation systems use ISPs. Strategic navigation systems are among this small group.
73 citations
22 Sep 2017
TL;DR: The SOP-aided INS produces bounded estimation errors in the absence of GNSS signals, and the bounds are dependent on the quantity and quality of exploited SOPs.
Abstract: A signal of opportunity (SOP)-aided inertial navigation system (INS) framework provides various technical solutions to technical problems facing GNSS implementations. A mobile receiver, whether handheld or vehicle-mounted, has access to Global Navigation Satellite System (GNSS) signals, multiple unknown terrestrial SOPs, and IMU measurements, which are used to estimate receiver states. When GNSS signals become unreliable, the mobile receiver continues to navigate using the SOP-aided INS. The SOP-aided INS produces bounded estimation errors in the absence of GNSS signals, and the bounds are dependent on the quantity and quality of exploited SOPs.
73 citations
TL;DR: In this article, an invariant nonlinear observer (i.e., a filter) is proposed for estimating the velocity vector and orientation of a flying rigid body, using measurements from low-cost Earth-fixed velocity, inertial and magnetic sensors.
73 citations
TL;DR: It is shown experimentally that the UFFB-based INS/UWB-integrated human tracking system is able to provide real-time estimation with an accuracy consistent to that of the UFIR filter, which relies on a constant optimal horizon.
73 citations