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.

Research on Gyroscope Free Strapdown Inertial Navigation System Based on 3-axis accelerometer

Abstract: Gyroscope free strapdown inertial navigation system is introduced in this paper; and a new strapdown scheme based on 3-axis accelerometers (mainly to ADXL330) is put forward. At the last of this paper, this allocation scheme is compared with traditional scheme of several single axis accelerometers.

MEMS-based non-orthogonal redundant inertial measurement unit for miniature navigation systems

Abstract: This paper describes the features of designing a MEMS-based non-orthogonal redundant inertial measurement unit for miniature navigation systems. With the aim of increasing the reliability and accuracy of motion parameters estimation considered, the inertial measurement unit in the form of a truncated regular tetragonal pyramid, at the sides of which inertial MEMS sensors (accelerometers and gyroscopes) are located, was considered. The performance of the considered configuration is analyzed and the corresponding multisensor data fusion algorithm is provided. The results of the preliminary experiments are also given.

A smoother for attitude estimation using inertial and magnetic sensors

Abstract: A smoother is proposed for an attitude estimation problem, where attitude is estimated using inertial and magnetic sensors. A smoother can provide better results when an off-line processing is allowed. A quaternion is used to represent attitude. An indirect Kalman filter is used as a forward and backward filter. In the smoother, the final attitude quaternion is computed using the averaging algorithm of quaternions, which can be computed from a simple optimization problem.

On single sensor-based inertial navigation

Abstract: In this paper, we compare two novel algorithms for pedestrian navigation based on signals collected by a single wearable Magnetic, Angular Rate, and Gravity (MARG) sensor. The two navigation algorithms, denoted as Enhanced Pedestrian Dead Reckoning (EPDR) and De-Drifted Propagation (DDP), require the placement of the MARG sensor on the foot or on the chest of the test subject, respectively. Different methods for gait characterization are compared, evaluating navigation dynamics by using data collected through an extensive experimental campaign. The main goal of this research is to investigate the peculiarities of different inertial navigation algorithms, in order to highlight the impact of the sensor's placement, together with inertial sensor issues. Considering a closed path (i.e., ending at the starting point), the relative distance error between the starting point and the final estimated position is about 2% of the total travelled distance for both DDP and EPDR navigation algorithms. On the other hand, the error between the initial heading angle and the final estimated one is approximately 10° for EPDR and 7° for DDP, respectively.

Method of determining a heading in the geographical north direction by means of an inertial unit

Abstract: A method of determining a heading in the geographical North direction by means of an inertial sensor module having three rate gyro measurement axes and three accelerometer measurement axes, the method comprising the steps of: using data from the inertial sensor module in a North-seeking mode to obtain a first heading value; using data from the inertial sensor module in a gyro-compass mode to obtain a second heading value; and determining the heading in the North direction by using the first heading value and the second heading value.