Error Auto-Compensation Methods of Improved Single-Axial Rotation INS

2013 ◽  
Vol 791-793 ◽  
pp. 1046-1049
Author(s):  
Guo Ping Li ◽  
Yan Bin Gao ◽  
Ting Jun Wang ◽  
Lian Wu Guan
Keyword(s):  
Inertial Measurement Unit ◽  
Inertial Navigation System ◽  
Rotation Axis ◽  
Axial Rotation ◽  
Measurement Unit ◽  
Inertial Measurement ◽  
Compensation Methods ◽  
Axis Rotation ◽  
System Errors ◽  
Single Axis Rotation

An Auto-Compensation of inertial navigation system (INS) based on improved single-axis rotation has been proposed in the paper. Inertial Measurement Unit (IMU) is tilt mounted, e.g. neither perpendicularly, nor coaxially, with the rotation axis. Analysis and derivation show that this angle arrangement of IMU can restrain the expansion of the system errors caused by IMU. Simulations demonstrated the coincidence of the theoretical analysis and the system performances

Angle estimation of a single-axis rotation: a practical inertial-measurement-unit-based method

2017 ◽  
Vol 11 (7) ◽  
pp. 892-899 ◽  
Author(s):  
Shuaiyong Zheng ◽  
Hongxin Dong ◽  
Ruifeng Zhang ◽  
Zhigang Huang ◽  
Jiawu Wang
Keyword(s):  
Inertial Measurement Unit ◽  
Measurement Unit ◽  
Angle Estimation ◽  
Inertial Measurement ◽  
Axis Rotation ◽  
Single Axis Rotation

scholarly journals Kajian Inertial Measurement Unit Berbasis Arduino Untuk Dokumentasi Digital Motion Capture Tarian Tradisional

2017 ◽  
Vol 2 (2) ◽  
pp. 251
Author(s):  
FX. Satriyo Dwi Nugroho
Keyword(s):  
Motion Capture ◽  
Inertial Measurement Unit ◽  
Rotation Axis ◽  
Three Dimensions ◽  
Measurement Unit ◽  
Motion Capture Data ◽  
Inertial Measurement ◽  
Digital Heritage ◽  
Traditional Dance ◽  
Digital Documentation

Visual digital documentation of traditional dance in Indonesia is still limited to photographs and videos recording. Motion capture technology has the potential to add more depth documenting traditional dances. This technology maps the position of the model (in this case the human body) and its motion in three dimensions. There are two popular ways in recording motion capture, using Vision Based Camera and Inertial measurement unit. Inertial Measurement Unit works by combining accelerometer and gyroscope to detect changes in the rotation axis relative lateral and angular. Those changes will be interpreted Arduino micro-controller platform as functions of motions that recorded as a motion capture data. Motion capture data that was obtained from traditional dance in Indonesia can be applied for many things such as education, standardization, documentation, and preservation of cultural assetsKeywords: digital documentatuion, motion capture, inertia measurement unit, angular relative, digital heritage. Abstrak Dokumentasi digital secara visual untuk tari tradisional di Indonesia masih terbatas pada perekaman secara fotografis dan videografis. Teknologi motion capture memiliki potensi untuk menambah kekayaan dokumentasi untuk tari tradisional. Teknologi ini memetakan posisi model (dalam hal ini tubuh manusia) dan pergerakannya secara 3 dimensi. Ada dua cara yang populer dalam perekaman motion capture, menggunakan Vision Based Camera dan Inertial measurement unit. Inertial Measurement Unit bekerja dengan menggabungkan accelerometer dan gyroscope untuk mendeteksi perubahan sumbu rotasi secara lateral dan angular relative. Perubahan ini yang oleh platform mikro-kontroler Arduino akan diterjemahkan sebagai fungsi gerakan yang nantinya akan direkam sebagai data motion capture. Data dokumentasi digital motion capture yang didapat dari perekaman gerak tari tradisional di Indonesia dapat diaplikasikan untuk banyak hal seperti edukasi, standarisasi, pembuatan animasi, game, dan pelestarian aset budaya. Kata kunci: dokumentasi digital, motion capture, inertia measurement unit, angular relative, pelestarian asset budaya

Single-Axis Rotation Modulation of SINS

2013 ◽  
Vol 313-314 ◽  
pp. 643-646 ◽  
Author(s):  
Yu Liang Mao ◽  
Jia Bin Chen ◽  
Chun Lei Song ◽  
Jing Yuan Yin
Keyword(s):  
Theoretical Analysis ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Sensors ◽  
Rotation Speed ◽  
Rotation Axis ◽  
Constant Bias ◽  
Rotation Scheme ◽  
Axis Rotation ◽  
Single Axis Rotation

In order to effectively inhibit the influence of constant bias of inertial sensors on strapdown inertial navigation system accuracy, a self-compensation method based on single-axis rotation modulation is proposed. It is shown by theoretical analysis that, the gyro constant drift and zero errors of accelerometer perpendicular to the rotation axis can be modulated to sinusoidal signal, which will be eliminated by integral. The constant bias along the rotation axis cannot be modulated. The effectiveness of the rotation scheme is proved by experiment and the influence of rotation speed is demonstrated.

scholarly journals Robocentric visual–inertial odometry

2019 ◽  
pp. 027836491985336 ◽  
Author(s):  
Zheng Huai ◽  
Guoquan Huang
Keyword(s):  
Inertial Measurement Unit ◽  
Motion Tracking ◽  
Inertial Navigation System ◽  
State Of The Art ◽  
Sliding Window ◽  
Frame Of Reference ◽  
Measurement Unit ◽  
Inertial Measurement ◽  
Sensing Platforms ◽  
The World

In this paper, we propose a novel robocentric formulation of the visual–inertial navigation system (VINS) within a sliding-window filtering framework and design an efficient, lightweight, robocentric visual–inertial odometry (R-VIO) algorithm for consistent motion tracking even in challenging environments using only a monocular camera and a six-axis inertial measurement unit (IMU). The key idea is to deliberately reformulate the VINS with respect to a moving local frame, rather than a fixed global frame of reference as in the standard world-centric VINS, in order to obtain relative motion estimates of higher accuracy for updating global pose. As an immediate advantage of this robocentric formulation, the proposed R-VIO can start from an arbitrary pose, without the need to align the initial orientation with the global gravitational direction. More importantly, we analytically show that the linearized robocentric VINS does not undergo the observability mismatch issue as in the standard world-centric counterparts that has been identified in the literature as the main cause of estimation inconsistency. Furthermore, we investigate in depth the special motions that degrade the performance in the world-centric formulation and show that such degenerate cases can be easily compensated for by the proposed robocentric formulation, without resorting to additional sensors as in the world-centric formulation, thus leading to better robustness. The proposed R-VIO algorithm has been extensively validated through both Monte Carlo simulation and real-world experiments with different sensing platforms navigating in different environments, and shown to achieve better (or competitive at least) performance than the state-of-the-art VINS, in terms of consistency, accuracy, and efficiency.

Research of Roll-Isolated Gimbal Platform and a Two-Position Initial Alignment Scheme of SINS in Spinning Projectile

2011 ◽  
Vol 383-390 ◽  
pp. 4115-4120
Author(s):  
Yong Sheng Shi ◽  
Bo Wang ◽  
Ming Jie Dong ◽  
Zhi Feng Gao
Keyword(s):  
High Spin ◽  
Navigation System ◽  
Measurement Errors ◽  
Inertial Measurement Unit ◽  
Inertial Navigation System ◽  
Measurement Unit ◽  
Initial Alignment ◽  
Inertial Measurement ◽  
Spinning Projectile ◽  
Alignment Errors

It is difficult to apply a traditional strapdown inertial navigation system(SINS) to spinning projectile because of high spin rate. A Roll-Isolated gimbal platform is introduced to prevent SINS by the projectile’s spinning motion. Roll-Isolation is accomplished by supporting the inertial measurement unit(IMU) on a single gimbal, the axis of which is parallel to the projectile’s spinning axis. Roll-Isolation prevents the saturation of the roll gyro by the high vehicle spin rate and greatly reduces the measurement errors arising from gyro scale factor and misalignment. On the basis of roll-isolation, the paper presents a Two-Position initial alignment scheme of SINS on stationary base, which is realized by changing the IMU roll angle around the spinning axis. Furthermore, the paper studies on the observability of the scheme, and the results show that it not only improves observability but also minimizes alignment errors.

scholarly journals Research on the automotive sensor–aided low-cost inertial navigation system for land vehicles

2019 ◽  
Vol 11 (1) ◽  
pp. 168781401882287 ◽  
Author(s):  
Susu Fang ◽  
Zengcai Wang ◽  
Lei Zhao
Keyword(s):  
Mechanical System ◽  
Navigation System ◽  
Inertial Measurement Unit ◽  
Inertial Navigation System ◽  
Micro Electro Mechanical System ◽  
Wheel Speed ◽  
Measurement Unit ◽  
Angle Sensor ◽  
Inertial Measurement ◽  
Speed Sensor

When a low-cost micro-electro-mechanical system inertial measurement unit is used for a vehicle navigation system, errors will quickly accumulate because of the large micro-electro-mechanical system sensor measurement noise. To solve this problem, an automotive sensor–aided low-cost inertial navigation system is proposed in this article. The error-state model of the strapdown inertial navigation system has been derived, and the measurements from the wheel speed sensor and steer angle sensor are used as the new observation vector. Then, the micro-electro-mechanical system inertial measurement unit/wheel speed sensor/steer angle sensor–integrated system is established based on adaptive Kalman filtering. The experimental results show that the positioning error of micro-electro-mechanical system inertial measurement unit/wheel speed sensor/steer angle sensor is 94.67%, 98.88%, and 97.88% less than the values using pure strapdown inertial navigation system in the east, north, and down directions, respectively. The yaw angle error is reduced to less than 1°, and the vehicle velocity estimation of micro-electro-mechanical system inertial measurement unit/wheel speed sensor/steer angle sensor–integrated navigation system is closer to the reference value. These results show the precision of the integrated navigation solution.

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