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.
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TL;DR: Four innovative measurement scenarios based on radio ranging are proposed to resolve the observability issue of the entry dynamics of the Mars precision landing missions and show that the addition of the range measurements from known references helps to estimate accurately the position states along with some critical model parameters, contrary to inertial measurement unit navigation alone.
Abstract: Accurate navigation systems are required in the scope of Mars precision landing missions. This paper reviews some assumptions of the literature concerning the availability of the vehicle states for guidance during its atmospheric entry on Mars. It is demonstrated that currently used measurements are not sufficient to get complete observability of the entry dynamics. Therefore, four innovative measurement scenarios based on radio ranging are proposed to resolve the observability issue. The analyses and simulations show that the addition of the range measurements from known references helps to estimate accurately the position states along with some critical model parameters, contrary to inertial measurement unit navigation alone. Finally, the addition of the range measurement from a secondary free-falling dummy vehicle with known aerodynamics also ensures the observability of aerodynamic parameters of the lander vehicle.
45 citations
Posted Content•
TL;DR: In this article, a set of real-world computer vision benchmark sets for pedestrian visual-inertial odometry is presented, with a wide range of raw sensor data accessible on almost any modern-day smartphone together with a high-quality ground-truth track.
Abstract: The lack of realistic and open benchmarking datasets for pedestrian visual-inertial odometry has made it hard to pinpoint differences in published methods. Existing datasets either lack a full six degree-of-freedom ground-truth or are limited to small spaces with optical tracking systems. We take advantage of advances in pure inertial navigation, and develop a set of versatile and challenging real-world computer vision benchmark sets for visual-inertial odometry. For this purpose, we have built a test rig equipped with an iPhone, a Google Pixel Android phone, and a Google Tango device. We provide a wide range of raw sensor data that is accessible on almost any modern-day smartphone together with a high-quality ground-truth track. We also compare resulting visual-inertial tracks from Google Tango, ARCore, and Apple ARKit with two recent methods published in academic forums. The data sets cover both indoor and outdoor cases, with stairs, escalators, elevators, office environments, a shopping mall, and metro station.
45 citations
TL;DR: In this paper, a cooperative guidance law for a team of interceptors trying to intercept, from multiple directions, an evading target is proposed, and an example scenario of interest is that of intercepting an aerial...
Abstract: A cooperative guidance law for a team of interceptors trying to intercept, from multiple directions, an evading target is proposed. An example scenario of interest is that of intercepting an aerial...
45 citations
01 Sep 2018
TL;DR: In this study, a foot motion model was developed according to the ambulatory gait analysis as a basis of the numerical simulation of the ZUPT-aided navigation algorithm and may serve as a benchmark for analysis of errors in pedestrian inertial navigation.
Abstract: We present, for the first time, an analytical relation between the navigation errors during Zero-Velocity-Update (ZUPT) aided pedestrian inertial navigation and Inertial Measurement Unit (IMU) performances. Angle Random Walk of gyroscopes and Velocity Random Walk of accelerometers in IMU, velocity measurement uncertainty during the stance phase, and the sampling frequency of IMU are studied and their effects on the overall navigation accuracy are analyzed. Numerical simulation of the ZUPT-aided navigation algorithm is conducted based on a generated pedestrian trajectory to verify the analytical results with the discrepancy less than 30%, showing fidelity of the results. In this study, a foot motion model was developed according to the ambulatory gait analysis as a basis of the numerical simulation. This study may serve as a benchmark for analysis of errors in pedestrian inertial navigation.
45 citations
TL;DR: The experimental results demonstrated that the performance degradation caused by the multipath effect and light obstruction in VLC-based positioning and the cumulative error associated with inertial navigation are solved in the proposed fusion system.
Abstract: With the increasing demand for indoor positioning-based services, indoor positioning methods based on Bluetooth, Wi-Fi, ultra wide band (UWB), inertial navigation, and visual light communications (VLC) have been proposed. Considering the limitations of accuracy, cost and complexity, we propose a fusion positioning scheme integrating VLC positioning and inertial navigation base on particle filter. The experimental results demonstrated that the performance degradation caused by the multipath effect and light obstruction in VLC-based positioning and the cumulative error associated with inertial navigation are solved in the proposed fusion system. The accuracy of the fusion positioning system is in centimeters, which is two to four times better as compared to the VLC-based positioning or inertial navigation alone. Furthermore, the fusion positioning system has the advantages of high accuracy, energy saving, low cost, and easy to install, making it a promising candidate for future indoor positioning applications.
45 citations