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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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01 Jun 2012
TL;DR: In this article, an investigation of the dynamic accuracy of the Xsens Motion Tracker (MTx) inertial sensor was conducted, and the authors concluded that the MTx was within manufacturer specifications for static accuracy but not for dynamic accuracy.
Abstract: : Microelectromechanical systems (MEMS) inertial sensors are commonly used in applications such as inertial navigation and human motion tracking. These inertial sensors provide three-dimensional (3D) orientation, acceleration, rate of turn, and magnetic field information. Manufacturers specify both static and dynamic accuracy for the 3D orientation output of MEMS inertial sensors. The dynamic accuracy is in the form of a root-mean-square (RMS) error and is only valid for certain motions, which are not specified. In this thesis, an investigation of the dynamic accuracy of the Xsens Motion Tracker (MTx) inertial sensor was conducted. The yaw or heading dynamic accuracy of the Microstrain 3DM-GX3-25 inertial sensor also was investigated. A pendulum test apparatus from a previous work was used to test the MTx and GX3. An encoder is installed to the pendulum axis of rotation and provides the reference data needed to calculate the dynamic accuracy of the MTx and GX3. After a series of motion tests, it was concluded that the MTx was within manufacturer specifications for static accuracy but not for dynamic accuracy. More specifically, the heading or yaw accuracy of the MTx and GX3 did not meet manufacturer specifications under the testing motions chosen in this study.

2 citations

Proceedings ArticleDOI
15 May 2016
TL;DR: This work presents a tool to investigate the fusion of visual- and inertial-based trackers, in the form of a simulation environment, and demonstrates how the environment can be used to study visual-inertial sensor fusion.
Abstract: The complementary nature of visual- and inertial-based trackers allows for robust hybrid tracking systems capable of handling fast motion and occlusions. We present a tool to investigate the fusion of these two types of modalities, in the form of a simulation environment. The environment generates the ground-truth data of a nine-axis inertial measurement unit (IMU) as well as the individual camera frames from an array of cameras. Using the simulation environment, we demonstrate how visual trackers and inertial-based trackers can be benchmarked individually, and then show how the environment can be used to study visual-inertial sensor fusion.

2 citations

Proceedings ArticleDOI
26 May 2010
TL;DR: The transfer model of inertial navigation instrument error was analyzed systemically, the SINS /Global Positioning System (GPS) Kalman filter for error separation was designed, and the first step was accomplished which provided the accurate measurement data used in the further separation of instrument error coefficient.
Abstract: The separation and compensation method of Inertial Measurement Unit (IMU) instrument error is the key technology improving the inertial navigation missile's fire accuracy, it can be divided into two steps, first is the separation of navigation instrument error from the overall errors, second is the separation of coefficient deviation from navigation instrument error. Based on Strap-down Inertial Navigation System (SINS) of ballistic missile, the dynamic separation method of inertial navigation instrument error during the missile's flight phase was studied, the transfer model of inertial navigation instrument error was analyzed systemically, the SINS /Global Positioning System (GPS) Kalman filter for error separation was designed, and the first step was accomplished which provided the accurate measurement data used in the further separation of instrument error coefficient. The observable degree of the system was analyzed which verified the correctness of filter results.

2 citations

Journal ArticleDOI
TL;DR: In this paper, the authors considered the possibility to determine the parameters of a gyro platform-based inertial navigation system without using special stands and demonstrated that high observability of the relevant parameters stems from the gyro platforms angular evolution, which results in large deviations from the initial state.
Abstract: In inertial navigation, topographic location, and airborne gravimetry, the defining influence on accuracy is knowledge of the instrument error models and the parameter values for these models. The possibility to determine these parameters for platform-based inertial navigation systems without using special stands is considered. High observability of the relevant parameters stems from the gyro platform angular evolution, which results in large deviations from the initial state. This is delivered by a special mode of gyro platform control. Instead of formal determination of the observable and unobservable components, the quality of calibration is measured by its influence on the accuracy of navigation.

2 citations

Journal ArticleDOI
TL;DR: In this article, an 18-accelerometer configuration is used to facilitate angular motion determination, and various measurement models are investigated where each model utilizes different accelerometers' measurements, and linear and nonlinear filters are used to build linear filters.
Abstract: Linear accelerometers can be used to retrieve the angular motion of the body they are attached to if their measurements are handled in an appropriate way. In this paper, an 18-accelerometer configuration is used to facilitate angular motion determination. Various measurement models are investigated where each model utilizes different accelerometers’ measurements. These models are used to build linear and nonlinear filters. The filters performances are evaluated and the associated sign ambiguity problem is solved. It is shown that a norm-constrained Kalman filters bank will give the best results. This work can be used within inertial navigation systems as a replacement of the gyroscopes.

2 citations


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Performance
Metrics
No. of papers in the topic in previous years
YearPapers
202314
202221
20211
20202
20193
20189