Graph-optimisation-based self-calibration method for IMU/odometer using preintegration theory

Determination of calibration parameters is essential for the fusion performance of an inertial measurement unit (IMU) and odometer integrated navigation system. Traditional calibration methods are commonly based on the filter frame, which limits the improvement of the calibration accuracy. This paper proposes a graph-optimisation-based self-calibration method for the IMU/odometer using preintegration theory. Different from existing preintegrations, the complete IMU/odometer preintegration model is derived, which takes into consideration the effects of the scale factor of the odometer, and misalignments in the attitude and position between the IMU and odometer. Then the calibration is implemented by the graph-optimisation method. The KITTI dataset and field experimental tests are carried out to evaluate the effectiveness of the proposed method. The results illustrate that the proposed method outperforms the filter-based calibration method. Meanwhile, the performance of the proposed IMU/odometer preintegration model is optimal compared with the traditional preintegration models.

Tianwen-1 Mars entry vehicle trajectory and atmosphere reconstruction preliminary analysis

The Tianwen-1 Mars entry vehicle successfully landed on the surface of Mars in southern Utopia Planitia on May 15, 2021, at 7:18 (UTC+8). To acquire valuable Martian flight data, a scientific instrumentation package consisting of a flush air data system and a multilayer temperature-sensing system was installed aboard the entry vehicle. A combined approach was applied in the entry, descent, and landing trajectory reconstruction using all available data obtained by the inertial measurement unit and the flush air data system. An aerodynamic database covering the entire flight regime was generated using computational fluid dynamics methods to assist in the reconstruction process. A preliminary analysis of the trajectory reconstruction result, along with the atmosphere reconstruction and aerodynamic performance, was conducted. The results show that the trajectory agrees closely with the nominal trajectory and the wind-relative attitude. Suspected wind occurred at the end of the trajectory.

Calib-Net: Calibrating the Low-Cost IMU via Deep Convolutional Neural Network

The low-cost Inertial Measurement Unit (IMU) can provide orientation information and is widely used in our daily life. However, IMUs with bad calibration will provide inaccurate angular velocity and lead to rapid drift of integral orientation in a short time. In this paper, we present the Calib-Net which can achieve the accurate calibration of low-cost IMU via a simple deep convolutional neural network. Following a carefully designed mathematical calibration model, Calib-Net can output compensation components for gyroscope measurements dynamically. Dilation convolution is adopted in Calib-Net for spatio-temporal feature extraction of IMU measurements. We evaluate our proposed system on public datasets quantitively and qualitatively. The experimental results demonstrate that our Calib-Net achieves better calibration performance than other methods, what is more, and the estimated orientation with our Calib-Net is even comparable with the results from visual inertial odometry (VIO) systems.

Physical and physiological demands according to gender, playing positions, and match outcomes in youth basketball players.

This study aimed to compare physical and physiological demands in youth basketball players according to gender, playing positions, and match outcomes. 64 players (32 female and 32 male) from eight youth sub-elite basketball teams were monitored using an Ultra-Wide Band system and inertial measurement unit in three consecutive matches. The results showed some significant differences, although with magnitudes qualified as small. When the teams won, the guards covered a greater distance at 0-6 km/h than when they lost. When teams lost, the centers covered more distance at 12-18 km/h and 18-21 km/h. The winning female teams presented a lower maximal heart rate (HRmax) compared to the losing teams. The forwards of the winning teams performed greater efforts at 70-80% HRmax, while the forwards of losing teams performed more efforts at 90-95% HRmax. The greatest number of accelerations and decelerations were performed by the female guards and the male forwards. The number of jumps was higher in the male guards and forwards than in the female ones. HRmax was higher in the forwards of the female teams. Efforts at 80%-90% HRmax were higher in male centers. When the female teams won, they had a lower HRmax than when they lost. When efforts exceed 90% of HRmax the teams lost. In conclusion, despite the differences found, the effect of these contextual variables on physical and physiological demands is unclear. Nevertheless, knowing the game's requirements can help the design of training that enhances the performance of youth basketball players

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

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.

Characteristics and Applications of Technology-Aided Hand Functional Assessment: A Systematic Review

Technology-aided hand functional assessment has received considerable attention in recent years. Its applications are required to obtain objective, reliable, and sensitive methods for clinical decision making. This systematic review aims to investigate and discuss characteristics of technology-aided hand functional assessment and their applications, in terms of the adopted sensing technology, evaluation methods and purposes. Based on the shortcomings of current applications, and opportunities offered by emerging systems, this review aims to support the design and the translation to clinical practice of technology-aided hand functional assessment. To this end, a systematic literature search was led, according to recommended PRISMA guidelines, in PubMed and IEEE Xplore databases. The search yielded 208 records, resulting into 23 articles included in the study. Glove-based systems, instrumented objects and body-networked sensor systems appeared from the search, together with vision-based motion capture systems, end-effector, and exoskeleton systems. Inertial measurement unit (IMU) and force sensing resistor (FSR) resulted the sensing technologies most used for kinematic and kinetic analysis. A lack of standardization in system metrics and assessment methods emerged. Future studies that pertinently discuss the pathophysiological content and clinimetrics properties of new systems are required for leading technologies to clinical acceptance.

Can IMU Provide an Accurate Vertical Jump Height Estimate?

The aim of the present study was to determine if an inertial measurement unit placed on the metatarsal part of the foot can provide valid and reliable data for an accurate estimate of vertical jump height. Thirteen female volleyball players participated in the study. All players were members of the Republic of Serbia national team. Measurement of the vertical jump height was performed for the two exemplary jumping tasks, squat jump and counter-movement jump. Vertical jump height estimation was performed using the flight time method for both devices. The presented results support a high level of concurrent validity of an inertial measurement unit in relation to a force plate for estimating vertical jump height (CMJ t = 0.897, p = 379; ICC = 0.975; SQJ t = −0.564, p = 0.578; ICC = 0.921) as well as a high level of reliability (ICC > 0.872) for inertial measurement unit results. The proposed inertial measurement unit positioning may provide an accurate vertical jump height estimate for in-field measurement of jump height as an alternative to other devices. The principal advantages include the small size of the sensor unit and possible simultaneous monitoring of multiple athletes.

A Computationally Efficient Lower Limb Finite Element Musculoskeletal Framework Directly Driven Solely by Inertial Measurement Unit Sensors

Finite element musculoskeletal (FEMS) approaches using concurrent musculoskeletal and finite element models driven by motion data such as marker-based motion trajectory can provide insight into the interactions between the knee joint secondary kinematics, contact mechanics, and muscle forces in subject-specific biomechanical investigations. However, these data-driven FEMS systems have two major disadvantages that make them challenging to apply in clinical environments: they are computationally expensive and they require expensive and inconvenient equipment for data acquisition. In this study, we developed an FEMS model of the lower limb driven solely by inertial measurement unit sensors that includes the tissue geometries of the entire knee joint and combines muscle modeling and elastic foundation theory-based contact analysis of knee into a single framework. The model requires only the angular velocities and accelerations measured by the sensors as input, and the target outputs (knee contact mechanics, secondary kinematics, and muscle forces) are predicted from the convergence results of iterative calculations of muscle force optimization and knee contact mechanics. To evaluate its accuracy, the model was compared with in vivo experimental data during gait. The maximum contact pressure (12.6 MPa) in the rigid body contact analysis occurred on the medial side of the cartilage at the maximum loading response. The proposed computationally efficient framework drastically reduced the computational time (97.5% reduction) in comparison with the conventional deformable finite element analysis. The developed framework combines measurement convenience and computational efficiency and shows promise for clinical applications.