scholarly journals A Novel Calibration Method for Gyro-Accelerometer Asynchronous Time in Foot-Mounted Pedestrian Navigation System

Sensors ◽  
2021 ◽  
Vol 22 (1) ◽  
pp. 209
Author(s):  
Tianyu Chen ◽  
Gongliu Yang ◽  
Qingzhong Cai ◽  
Zeyang Wen ◽  
Wenlong Zhang
Keyword(s):  
Attitude Change ◽  
Navigation System ◽  
Inertial Measurement Unit ◽  
Detection Method ◽  
Calibration Method ◽  
Sampling Time ◽  
Measurement Unit ◽  
Positioning Accuracy ◽  
Inertial Measurement ◽  
Pedestrian Navigation

Pedestrian Navigation System (PNS) is one of the research focuses of indoor positioning in GNSS-denied environments based on the MEMS Inertial Measurement Unit (MIMU). However, in the foot-mounted pedestrian navigation system with MIMU or mobile phone as the main carrier, it is difficult to make the sampling time of gyros and accelerometers completely synchronous. The gyro-accelerometer asynchronous time affects the positioning of PNS. To solve this problem, a new error model of gyro-accelerometer asynchronous time is built. The effect of gyro-accelerometer asynchronous time on pedestrian navigation is analyzed. A filtering model is designed to calibrate the gyro-accelerometer asynchronous time, and a zero-velocity detection method based on the rate of attitude change is proposed. The indoor experiment shows that the gyro-accelerometer asynchronous time is estimated effectively, and the positioning accuracy of PNS is improved by the proposed method after compensating for the errors caused by gyro-accelerometer asynchronous time.

scholarly journals RTK/Pseudolite/LAHDE/IMU-PDR Integrated Pedestrian Navigation System for Urban and Indoor Environments

Sensors ◽  
2020 ◽  
Vol 20 (6) ◽  
pp. 1791
Author(s):  
Ruihui Zhu ◽  
Yunjia Wang ◽  
Hongji Cao ◽  
Baoguo Yu ◽  
Xingli Gan ◽  
...  
Keyword(s):  
Real Time ◽  
High Precision ◽  
Navigation System ◽  
Carrier Phase ◽  
Inertial Measurement Unit ◽  
Dead Reckoning ◽  
Measurement Unit ◽  
Indoor Environments ◽  
Inertial Measurement ◽  
Pedestrian Navigation

This paper presents an evaluation of real-time kinematic (RTK)/Pseudolite/landmarks assistance heuristic drift elimination (LAHDE)/inertial measurement unit-based personal dead reckoning systems (IMU-PDR) integrated pedestrian navigation system for urban and indoor environments. Real-time kinematic (RTK) technique is widely used for high-precision positioning and can provide periodic correction to inertial measurement unit (IMU)-based personal dead reckoning systems (PDR) outdoors. However, indoors, where global positioning system (GPS) signals are not available, RTK fails to achieve high-precision positioning. Pseudolite can provide satellite-like navigation signals for user receivers to achieve positioning in indoor environments. However, there are some problems in pseudolite positioning field, such as complex multipath effect in indoor environments and integer ambiguity of carrier phase. In order to avoid the limitation of these factors, a local search method based on carrier phase difference with the assistance of IMU-PDR is proposed in this paper, which can achieve higher positioning accuracy. Besides, heuristic drift elimination algorithm with the assistance of manmade landmarks (LAHDE) is introduced to eliminate the accumulated error in headings derived by IMU-PDR in indoor corridors. An algorithm verification system was developed to carry out real experiments in a cooperation scene. Results show that, although the proposed pedestrian navigation system has to use human behavior to switch the positioning algorithm according to different scenarios, it is still effective in controlling the IMU-PDR drift error in multiscenarios including outdoor, indoor corridor, and indoor room for different people.

Systematic Calibration Method for FOG Inertial Measurement Units

2013 ◽  
Vol 662 ◽  
pp. 717-720 ◽  
Author(s):  
Zhen Yu Zheng ◽  
Yan Bin Gao ◽  
Kun Peng He
Keyword(s):  
Inertial Measurement Unit ◽  
Inertial Sensors ◽  
Calibration Method ◽  
State Equation ◽  
Measurement Unit ◽  
Observation System ◽  
Body Frame ◽  
Inertial Measurement ◽  
Measurement Units ◽  
Error Coefficients

As an inertial sensors assembly, the FOG inertial measurement unit (FIMU) must be calibrated before being used. The paper presents a one-time systematic IMU calibration method only using two-axis low precision turntable. First, the detail error model of inertial sensors using defined body frame is established. Then, only velocity taken as observation, system 33 state equation is established including the lever arm effects and nonlinear terms of scale factor error. The turntable experiments verify that the method can identify all the error coefficients of FIMU on low-precision two-axis turntable, after calibration the accuracy of navigation is improved.

Research on Automatic Joint Calibration Method of Multi 3D-LIDARs and Inertial Measurement Unit

2021 ◽  
Author(s):  
Jinghua Zhang ◽  
Rui He ◽  
Jian Wu ◽  
Shuai Li ◽  
Xuesong Chen ◽  
...  
Keyword(s):  
Inertial Measurement Unit ◽  
Calibration Method ◽  
Measurement Unit ◽  
Inertial Measurement

An Efficient UAV Hijacking Detection Method Using Onboard Inertial Measurement Unit

2019 ◽  
Vol 17 (6) ◽  
pp. 1-19 ◽  
Author(s):  
Zhiwei Feng ◽  
Nan Guan ◽  
Mingsong Lv ◽  
Weichen Liu ◽  
Qingxu Deng ◽  
...  
Keyword(s):  
Inertial Measurement Unit ◽  
Detection Method ◽  
Measurement Unit ◽  
Inertial Measurement

scholarly journals Scalar Method of Fault Diagnosis of Inertial Measurement Unit

2015 ◽  
Vol 2015 ◽  
pp. 1-10
Author(s):  
Vadym Avrutov
Keyword(s):  
Fault Diagnosis ◽  
Inertial Measurement Unit ◽  
Calibration Method ◽  
Quality Monitoring ◽  
Measurement Unit ◽  
Navigation Systems ◽  
Working Capacity ◽  
Element Determination ◽  
Inertial Measurement ◽  
Algorithm Verification

The scalar method of fault diagnosis systems of the inertial measurement unit (IMU) is described. All inertial navigation systems consist of such IMU. The scalar calibration method is a base of the scalar method for quality monitoring and diagnostics. In accordance with scalar calibration method algorithms of fault diagnosis systems are developed. As a result of quality monitoring algorithm verification is implemented in the working capacity monitoring of IMU. A failure element determination is based on diagnostics algorithm verification and after that the reason for such failure is cleared. The process of verifications consists of comparison of the calculated estimations of biases, scale factor errors, and misalignments angles of sensors to their data sheet certificate, kept in internal memory of computer. As a result of such comparison the conclusion for working capacity of each IMU sensor can be made and also the failure sensor can be determined.

A Rapid Field Calibrating Method for MIMU

2011 ◽  
Vol 80-81 ◽  
pp. 1140-1144
Author(s):  
Yu Bao Fan ◽  
Jie Li ◽  
Bo Wang ◽  
Xiao Chun Tian ◽  
Jun Liu
Keyword(s):  
Inertial Measurement Unit ◽  
Operation Time ◽  
Calibration Method ◽  
Least Square ◽  
Measurement Unit ◽  
Calibration Model ◽  
Time Saving ◽  
Inertial Measurement ◽  
Field Calibration ◽  
Calibration Program

When the Micro Inertial Measurement Unit is been placed randomly in the case of stationary, the sum vectors that measured by the inertial devices configured orthogonally along three axis, are constant vectors. In view of the above objective facts, a field calibration method of micro inertial measurement unit was proposed. On the base of the establishment and optimization of calibration model, all parameters to be calibrated can be obtained through the least square by the ellipsoid fitting, with the result of high-precision field calibration for micro inertial measurement unit. Finally, a filed calibration program for micro inertial measurement unit is scheduled reasonably. The experiment results show that the method has such characteristics such as easily-operation, time-saving, higher calibration accuracy, and not depending on the baseline direction and datum offered by precision instruments. Especially, it fits for inertial measurement systems which work short time and ask for high accuracy. In addition, it can also significantly increase the measurement accuracy of micro inertial measurement system in practical application.

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