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In this paper localization using UWB positioning system and an inertial unit containing a single accelerometer is considered. The main part of the paper describes a novel algorithm for person localization. The algorithm is based on modified Extended Kalman Filter and utilizes TDOA (Time Difference of Arrival) results obtained from UWB system and results of acceleration measurement performed by the...
Outdoor localization is of great importance for driving navigation, attracting many research efforts in past decades. Prevailing GPS achieves meter-level localization accuracy under general outdoor conditions. Yet, GPS service performs poorly in urban canyons where skyscrapers blocks GPS signals and drain mobile phone battery quickly within few hours. In this work, we exploit common city facilities,...
Wearable devices such as smartwatches have become popular. The accelerometer embedded in smartwatch can record the movement of hand, so that it may lead to privacy compromise when performing sensitive inputting on keyboard with hand wearing smartwatch. The existing inference attack collects smartwatch's accelerometer readings which correspond to the movement of hand when inputting a numeric password,...
This paper presents an on-line estimator to evaluate the inertia-related parameters for a class of quasi-linear mechanical systems. The proposed estimator is established on the designed virtual acceleration error signal, and only the measurements for velocity and position are needed, therefore the usage of an accelerometer is avoided. The performance of the proposed estimator is verified on the numerical...
Falls have always been a frequent and complex problem that might cause fatality, morbidity, loss or damage of body functions and undesired health care needs. The problem is relevant especially for senior citizens and different studies focused on systems for fall detections. This work analyzes the fall kinematics by means of accelerometers placed on head and torso of a crush test dummy used for fall...
This paper presents digital pen for handwritten digit and gesture trajectory recognition for paralyzed patient. The accelerometer based digital pen for paralyzed patient consists of basically three main parts i.e triaxial accelerometer, microcontroller and RF wireless transmission module. This parts used for sensing and collecting accelerations of handwriting and gesture trajectories of hand motions...
The optimal estimator for the hidden state of nonlinear systems is often not known or it is computational unfeasible. In this situation suboptimal algorithms must be used. An important performance metric for these algorithms is the difference of their root mean square error (RMSE) compared to the RMSE of the optimal estimator. If the optimal estimator is unknown it is useful to have a lower bound...
It is very important to carry out a fast estimation method for long data chain due to the online purpose or the requirement of low compute cost. This paper combines the motion characteristics with the Kalman estimate algorithm to achieve this goal. Measurements are determined according the accelerations of the moving objects so that fulfil the estimation by an irregularly sampling concept. Thus the...
We consider the problem of indoor human trajectory identification using odometry data from smartphone sensors. Given a segmented trajectory, a simplified map of the environment, and a set of error thresholds, we implement a map-matching algorithm in a urban setting and analyze the accuracy of the resulting path. We also discuss aggregation of user step data into a segmented trajectory. Besides providing...
This paper deals with autonomous precision attitude and heading reference system. Usage of the dynamically tuned gyros and two-axis gimbals that allows to reduce mass and dimensions of the studied system is suggested. The model of the studied system is given. Forming of the control moments is considered.
In this paper we present the enhancement of an existing closed-form solution for metric velocity determination utilizing monocular images in combination with accelerometer and gyroscope measurements. While the original version of this algorithm depends on external attitude information for gravity compensation, our solution allows for gravity compensation through the addition of magnetometer measurements...
This paper considers the localization problem of sensors in mobile wireless sensor networks. It proposes a combined localization technique, using both fingerprinting and accelerometer information. The proposed approach consists of two phases. In the first one, a power map is constructed over the surveillance area. In the second phase, nodes are localized and a first position estimate is computed using...
Conceived for high-speed and high-accuracy pick-and-place tasks, the parallel robot Par2 aims at reducing industrial operation cycle times. As a consequence of its high acceleration levels, the end-effector precision at the stop positions is subjected to undesirable vibrations of the manipulator's arms, leading consequently to an increase in the cycle time. Piezoelectric patches are wrapped around...
A common problem in the evaluation of Pedestrian Dead Reckoning (PDR) algorithms is the determination of a good ground truth. Some authors propose the use of external motion capture systems, however, their setup, complexity, synchronization and limited coverage are important limitations. We propose the generation of a simulated IMU signal for pedestrians, that is obtained from a given 3D trajectory...
Inertial sensors for pedestrian dead-reckoning (PDR) have been attracting considerable attention recently. Since accelerometers are prone to the accumulation of errors, a “Zero Velocity Update” (Z-UPT) technique [1], [2] was proposed as a means to calibrate the velocity of pedestrians. However, these inertial sensors must be mounted on the bottom of the foot, resulting in excessive vibration and errors...
In this paper, an handwritten character recognition system based on acceleration is presented. The character recognition system using a 3-dimensional (3D) accelerometer, includes three procedures: original signal detection, signal processing (preprocessing and quantization) and recognition/classification. In quantization procedure, Trajectory Orientation (TO) and Curve Feature (CF) are adopted and...
The use of wireless devices with accelerometers and gyroscopes to measure the movements of humans and objects is a growing area of interest. Applications range from simple activity detection to detailed full-body motion capture using networks of sensors worn on the body. A variety of algorithms have been proposed for these applications, but opportunities for accurate evaluation and comparison have...
Inertial measurement units (IMU) comprising accelerometers and gyroscopes have recently found use in a wide range of motion analysis applications. Even though the technique of inferring secondary parameters such as velocity, displacement and angular rotation is greatly influenced by sensor noise, IMUs continue to find interest in movement studies due to other attractive properties such as light weight,...
The open-loop flexible modes identification of a high-speed and high-accuracy pick-and-place parallel robot is carried out based on two approaches: an ARMAX model and a subspace identification technique. Models of piezoelectric dynamics and disturbances can be obtained for many distinct operation conditions, allowing, in a future work, the conception of robust control laws.
This paper describes the principle and implementation of a simulator based on Inertial Navigation System (INS) using Micro Electro Mechanical System (MEMS). The MEMS is composed of Micro Inertial Measurement Unit (MIMU). The gyroscope and accelerometer error models are established according to the characteristics of the MEMS. The principle of INS is described and an INS model is established to simulate...
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