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.

Vehicle heading validation using inertial measurement unit

Abstract: A navigation system repeatedly determines a GNSS heading for the vehicle based on GNSS data received from the GNSS receiver, and repeatedly determines an inertial heading for the vehicle based on data received from an inertial measurement unit. The navigation system repeatedly sets the inertial heading to a verified GNSS heading and then provides the set inertial heading as input to a recursive feedback algorithm. The recursive feedback algorithm receives additional inputs indicating the vehicle's angular displacement or acceleration and outputs an updated inertial heading. The navigation system compares the subsequently determined GNSS headings with the updated inertial heading. If the two headings are different, the navigation system sets the GNSS heading to the updated inertial or 180 degree reverse of the GNSS heading.

The New Advancement and Trend of Inertial Navigation Technology

Abstract: In this paper, the history of inertial navigation technology is introduced and advancement and present development status of the up-to-date inertial sensors are described as well as some state-of-the-art inertial measurement units and their superior specifications are presented. Meanwhile, the application fields of inertial navigation technology are explained, with emphasizing that the nautical applications and development of shipborne inertial navigation systems are expounded. In conclusion, as new inertial sensors springing up and maturing, the hybrid navigation system based on inertial navigation system would be one important orientation of navigation technology in the near future.

Rotational Motion Measurement by Integrating Gyroscopes and Accelerometers

Abstract: In recent years, the researches for conducting the human motion capture and recognition are prosperously carried out in the field of man-machine interface, sign-language recognition, dancing behavior description and so force. Image processing techniques and magnetic sensing devices are widely used, but the former exhibits some disadvantages due to occlusion and the latter shows some problems in the spatial measurable range. Therefore, the authors are proposing the measurement and processing techniques for dynamically estimating the human behaviors, especially the behaviors of rotary joint type link structures of upper arm motion by performing the integrated type sensor fusion using the gyroscopes and accelerometers having such special features that are free from the occlusion and are not influenced by the external magnetic fields environment. This paper proposes a new measurement system which recognizes motion of human arms directly and precisely by the fusion of gyroscopic sensor and accelerometric sensor. That is, the objective of this system is the emphasis of the merits of both types of sensor and the removal of their demerits by unification of both sensors. Experimental results using 1-joint and 1-axis arm show that the performance of this sensing system is acceptable within the range of human being's general behaviors, and the effectiveness of this method in application for human motion capture has been verified through the simulation using 2-joint and 2-axis human arm model.

Magnetic sensors in inertial navigation system

Abstract: The purpose of this paper is to present a inertial navigation system with an additional magnetic sensor to increase the accuracy of the guidance system. Thus we obtain a system that has less need of an external reference system for correction of internal reference system, this increasing its autonomy. It is implemented with a 8-bit microcontroller and the usual solid state sensors: acceleration, magnetic and gyroscope.

The true role of accelerometers in quadrotor's Inertial Navigation System

Abstract: Quadrotors are Vertical Take-Off and Landing (VTOL) vehicles which use Inertial Measurement Units (IMU) in the heart of their navigation and instrumentation systems. Mostly, IMUs containing three accelerometers are used to measure the tilt angles and robot's position (attitude and location) when they are integrated in an Inertial Navigation System (INS). The role of the accelerometers in this INS is measuring both the vehicle's linear accelerations and the gravity. As an exception for VTOL platforms, in this paper it is shown that the values measured by the accelerometers of a quadrotor are affected by neither the vehicle's linear accelerations nor the gravity. Therefore, different elements affecting on the quadrotor's accelerometers are studied and it is shown that the most significant element is the quadrotor's linear velocity expressed in the earth frame. So, it is shown that using the accelerometers to measure the vehicle's linear velocity is possible in quadrotors, whereas their measurements are not suitable to be used to estimate the tilt angles and position. The simulation results are presented in a previous version of this paper [1] and, following that, the experimental results are shown here to validate the proposed idea. This research is developed using a Genetic Algorithm (GA) based method.