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: In this paper, a geodetic introduction into the fundamental equation of inertial positioning materialized by inertial survey systems with emphasis on a careful error model, including 36 parameters of type time interval, initial positions, initial gravity, varying acceleration, varying gravity gradients, accelerometer bias and accelerometer random uncertainty.
Abstract: WhenH. Moritz (1967, 1971) studied “kinematical geodesy” for the purpose of separation of gravitation and inertia, especially within combined accelerometer-gradiometer systems, it was hard to believe that within five years time inertial survey systems would be available, exactly operating according to his theoretical design. Here, we attempt to give a geodetic introduction into the fundamental equation of inertial positioning materialized by inertial survey systems with emphasis on a careful error model, including 36 parameters of type time interval, initial positions, initial gravity, varying acceleration, varying gravity gradients, accelerometer bias, accelerometer random uncertainty, accelerometer non-orthogonality, initial misalignment angles, accelerometer scale factor uncertainty. The notion of “multipoint” boundary value problem and initial value problem of inertial positioning is reviwed. So-called “post-mission” adjustment techniques for inertial surveys are discussed.
6 citations
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05 Oct 2012TL;DR: In this article, a method for improved stationary object detection utilizing inertial sensor information is described. But the method is limited to the detection of stationary objects and cannot be used to detect objects that are moving.
Abstract: Techniques described herein may provide a method for improved stationary object detection utilizing inertial sensor information. Gyroscopes and accelerometers are examples of such inertial sensors. The movement of the camera causes shifts in the image captured. Image processing techniques may be used to track the shift in the image on a frame-by-frame basis. The movement of the camera may be tracked using inertial sensors. By calculating the degree of similarity between the image shift as predicted by image processing techniques with motion of the device estimated using an inertial sensor, the device can estimate the portions of the image that are stationary and those that are moving.
6 citations
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10 Jun 2016
TL;DR: In this paper, a quaternion-based orientation estimation model for a moving object using a specialized gradient descent correction step is described, which is a computationally efficient quaternions-based approach.
Abstract: There is described a computationally efficient quaternion-based orientation estimation model for a moving object using a specialized gradient descent correction step.
6 citations
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06 Dec 2016
TL;DR: In this paper, an emergency landing procedure that includes a sequence of control settings is continuously generated, including a set of one or more inertial sensors to control an actuator, and an aircraft is landed, including by using the sequence of controller settings and the set of sensors.
Abstract: An emergency landing procedure that includes a sequence of control settings is continuously generated. An aircraft is landed, including by using the sequence of control settings and a set of one or more inertial sensors to control an actuator.
6 citations
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30 Dec 1969TL;DR: In this article, a strapped-down reference system attains the equivalence of a three and four-gimbal, inertial reference system by using a forward resolver chain, which can be of relatively low accuracy, to derive gimbal angle values, and high-accuracy feedback resolvers to derive signals to cage the gyroscopes.
Abstract: The strapped-down reference system attains the equivalence of a three- and four-gimbal, inertial reference system by using a forward resolver chain, which can be of relatively low accuracy, to derive gimbal angle values, and high-accuracy feedback resolvers to derive signals to cage the gyroscopes. The gyroscopes are caged by pulse torque techniques and integration of angular rates is performed in an essentially digital fashion by pulse generators and stepping motors.
6 citations