Topic
Inertial reference unit
About: Inertial reference unit is a research topic. Over the lifetime, 1306 publications have been published within this topic receiving 22068 citations. The topic is also known as: IRU.
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TL;DR: Computer models of thermal processes in the fiber optic gyroscopes and a strapdown inertial navigation system with an active double-loop reversible temperature control system based on thermoelectric coolers are constructed.
Abstract: Theoretical and applied issues of creating a reversible control system of time-variant temperature fields of fiber optic gyroscopes and a strapdown inertial navigation system based on such gyroscopes are considered. Mathematical models of thermal processes in the fiber optic gyroscopes and a strapdown inertial navigation system with an active double-loop reversible temperature control system based on thermoelectric coolers are constructed. Software is developed, parameters of the temperature control system are selected, computational experiments are performed, and estimates of the operation of the corresponding dynamic systems under complex thermal conditions are obtained.
8 citations
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16 Jun 2014TL;DR: This method improves upon the raw accelerometer orientation estimation method and a gyroscope based EKF method for sensor orientation during motion and at rest and improves overall orientation estimates using an extended Kalman filter (EKF).
Abstract: Inertial measurement units (IMUs) including accelerometers and gyroscopes are becoming very common and can be found in cell phones, fitness trackers, and other wearable devices. With the growth in wearable computing and body sensor networks, IMUs are also becoming more prevalent researchenvironments for estimation and tracking of human motion. Wedemonstrate that the accelerometer angle estimate is inaccurate for typical motions and present a method using a kinematic model to correct the accelerometer angle estimate and improve overall orientation estimates using an extended Kalman filter (EKF). Our method improves upon the raw accelerometer orientation estimation method and a gyroscope based EKF method for sensor orientation during motion and at rest.
8 citations
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08 Sep 1971TL;DR: An improved monitoring system and method for comparing the orientations of two inertial platforms in an inertial navigation system so as to determine whether or not any of the gyroscopes in either platform has failed and, if so, to identify the failed gyroscope.
Abstract: An improved monitoring system and method is provided for comparing the orientations of two inertial platforms in an inertial navigation system so as to determine whether or not any of the gyroscopes in either platform has failed and, if so, to identify the failed gyroscope. The two inertial platforms are positioned so that the inertial cluster of one is skewed relative to the inertial cluster of the other. The two clusters will change their relative orientations if a gyroscope in either begins to drift. In the monitoring system of the invention, the synchro read-outs from the platforms are introduced to a computer which transforms the cluster coordinates into body coordinates. The computer then computes the relationship between the two cluster coordinates, and provides a particular read-out for variations in the relationship. This read-out identifies the particular gyroscope in the particular inertial platform which is malfunctioning.
8 citations
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TL;DR: The group has developed a set of solutions, based on the use of low-cost MEMS inertial sensors, which can be easily placed on the system to be controlled, to enhance the performance of existing sensors and actuators, without major modifications to the plant.
Abstract: The performance of a motion control system depends on hardware capabilities, such as sensor resolution and actuator technology. For a certain plant, an amelioration in performance can often be achieved by using better sensors. This however may require a redesign of the system, as the new sensor may not fit into the existing plant. As for the actuators, many motion control systems using stepper motors exist; these stepper motors known for their high torque ripple and limited dynamic performance, especially in the presence of mechanical resonances of the driven load. A possible solution is to replace the actuator with a better one; however, this again may require a costly redesign of the plant. To improve the performance of existing plants with minimal invasive modifications, our group has developed a set of solutions, based on the use of low-cost MEMS inertial sensors, which can be easily placed on the system to be controlled. We will show the manner in which we used such sensors to develop new control strategies, to enhance the performance of existing sensors and actuators, without major modifications to the plant. This will be demonstrated through some examples taken from both laboratory and industrial applications.
8 citations
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TL;DR: In this article, the authors describe the development of a low-cost and small size integrated Global Positioning System (GPS)/inertial measurement unit (IMU), which is capable of providing attitude and heading accuracy at /spl plusmn/0.2 and /spl +mn/ 0.4 degrees, respectively.
Abstract: This paper describes the development of a low-cost and small size integrated Global Positioning System (GPS)/inertial measurement unit (IMU). The developed strapdown Attitude and Heading Reference System (AHRS) is capable of providing attitude and heading accuracy at /spl plusmn/0.2 and /spl plusmn/0.4 degrees, respectively. The prototype of low-cost integrated GPS/IMU can give positioning accuracy of 10 metres.
8 citations