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: In this paper, an efficient initial calibration and alignment algorithm for a 6-degrees of freedom inertial measurement unit (IMU) to be used in land vehicle applications is presented.
Abstract: This work presents an efficient initial calibration and alignment algorithm for a 6-degrees of freedom inertial measurement unit (IMU) to be used in land vehicle applications. Error models for the gyros and accelerometers are presented with a study of their perturbation in trajectory prediction. A full inertial error model is also presented to determine the sensors needed for full observability of the different perturbation parameters. Finally, dead-reckoning experimental results are presented based on the initial alignment and calibration parameters obtained with the algorithms presented. The results show that the proposed algorithms provide accurate position and velocity information for an extended period of time using nonaided IMU. ©1999 John Wiley & Sons, Inc.
143 citations
Book•
31 Aug 2010
TL;DR: In this paper, the authors focus on the application of MEMS inertial sensors to navigation systems and show how to minimize cost by adding and removing inertial sensor nodes, and provide integration strategies with examples from real field tests.
Abstract: Due to their micro-scale size and low power consumption, Microelectromechanical systems (MEMS) are now being utilized in a variety of fields This leading-edge resource focuses on the application of MEMS inertial sensors to navigation systems The book shows you how to minimize cost by adding and removing inertial sensors Moreover, this practical reference provides you with various integration strategies with examples from real field tests From an introduction to MEMS navigation related applications to special topics on Alignment for MEMS-Based Navigation to discussions on the Extended Kalman Filter, this comprehensive book covers a wide range of critical topics in this fast-growing area
143 citations
TL;DR: A passivity-based design is developed which relies only on relative attitude information with respect to neighboring agents for motion coordination problem where the objective is to achieve identical orientation and synchronous rotation for a group of rigid bodies.
143 citations
TL;DR: Experimental results show the technique accurately and rapidly detects robot immobilization conditions while providing estimates of the robot's velocity during normal driving, indicating the algorithm is applicable for both terrestrial applications and space robotics.
Abstract: This paper introduces a model-based approach to estimating longitudinal wheel slip and detecting immobilized conditions of autonomous mobile robots operating on outdoor terrain. A novel tire traction/braking model is presented and used to calculate vehicle dynamic forces in an extended Kalman filter framework. Estimates of external forces and robot velocity are derived using measurements from wheel encoders, inertial measurement unit, and GPS. Weak constraints are used to constrain the evolution of the resistive force estimate based upon physical reasoning. Experimental results show the technique accurately and rapidly detects robot immobilization conditions while providing estimates of the robot's velocity during normal driving. Immobilization detection is shown to be robust to uncertainty in tire model parameters. Accurate immobilization detection is demonstrated in the absence of GPS, indicating the algorithm is applicable for both terrestrial applications and space robotics.
143 citations
TL;DR: This research presents a probabilistic procedure that can be used to estimate the intensity of the volcanic activity in the Caspian Sea during the period of May 21 to 29, 1997 and determine the temperature and direction of volcanic activity during that period.
Abstract: Published in the Journal of Aerospace Computing, Information, and Communication, Vol. 2, September 2005
142 citations