Posterior Cramer-Rao Bound for Inertial Sensors Enhanced Mobile Positioning Under The Random Walk Motion Model

The study describes a mathematical error model of a platformless inertial navigation system and focuses on using Allan variance as a method for estimating such instrumental errors of sensors, such as zero signal bias instability, angle random walk and rate random walk. The paper shows the results of the work of the mathematical error model, the model being constructed using the estimated instrumental errors of a sample of sensor assembly which consists of three ring laser gyroscopes and a three-axis accelerometer unit.

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Performance Enhancement of Consumer-Grade MEMS Sensors through Geometrical Redundancy

Sensors ◽

10.3390/s21144851 ◽

2021 ◽

Vol 21 (14) ◽

pp. 4851

Author(s):

Giorgio de Alteriis ◽

Domenico Accardo ◽

Claudia Conte ◽

Rosario Schiano Lo Moriello

Keyword(s):

Random Walk ◽

Performance Enhancement ◽

Inertial Sensors ◽

Low Cost ◽

Cost Effective ◽

Measurement Procedure ◽

Measurement Unit ◽

Mems Sensors ◽

Mems Technology ◽

Bias Instability

The paper deals with performance enhancement of low-cost, consumer-grade inertial sensors realized by means of Micro Electro-Mechanical Systems (MEMS) technology. Focusing their attention on the reduction of bias instability and random walk-driven drift of cost-effective MEMS accelerometers and gyroscopes, the authors hereinafter propose a suitable method, based on a redundant configuration and complemented with a proper measurement procedure, to improve the performance of low-cost, consumer-grade MEMS sensors. The performance of the method is assessed by means of an adequate prototype and compared with that assured by a commercial, expensive, tactical-grade MEMS inertial measurement unit, taken as reference. Obtained results highlight the promising reliability and efficacy of the method in estimating position, velocity, and attitude of vehicles; in particular, bias instability and random walk reduction greater than 25% is, in fact, experienced. Moreover, differences as low as 0.025 rad and 0.89 m are obtained when comparing position and attitude estimates provided by the prototype and those granted by the tactical-grade MEMS IMU.

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A Universal Simulation Framework of Shipborne Inertial Sensors Based on the Ship Motion Model and Robot Operating System

Journal of Marine Science and Engineering ◽

10.3390/jmse9080900 ◽

2021 ◽

Vol 9 (8) ◽

pp. 900

Author(s):

Qianfeng Jing ◽

Haichao Wang ◽

Bin Hu ◽

Xiuwen Liu ◽

Yong Yin

Keyword(s):

Operating System ◽

Inertial Sensors ◽

Inertial Sensor ◽

Measurement Data ◽

Ship Motion ◽

Motion Model ◽

Simulation Framework ◽

Test Environment ◽

Inertial Measurement ◽

Robot Operating System

A complete virtual test environment is a powerful tool for Autonomous Surface Vessels (ASVs) research, and the simulation of ship motion and shipborne sensors is one of the prerequisites for constructing such an environment. This paper proposed a universal simulation framework of shipborne inertial sensors. A ship motion model considering environmental disturbances is proposed to simulate the six-degrees-of-freedom motion of ships. The discrete form of the inertial sensor stochastic error model is derived. The inertial measurement data are simulated by adding artificial errors to a simulated motion status. In addition, the ship motion simulation, inertial measurement simulation, and environment simulation nodes are implemented based on the computational graph architecture of the Robot Operating System (ROS). The benefit from the versatility of the ROS messages, the format of simulated inertial measurement is exactly the same as that of real sensors, which provides a research basis for the fusion perception algorithm based on visual–inertial and laser–inertial sensors in the research field of ASVs.

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