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A practical method for full-dimension attitude determination based on the combination of two-antenna global positioning system (GPS) and strapdown inertial navigation system (SINS) is presented. In view of the fact that two-antenna GPS can only provide two attitude angles using carrier phase difference measurements, not all of the SINS attitude errors can be directly corrected by the integrated navigation...
This paper presents a sensor fusion strategy to estimate the absolute position and to identify the gait events of an active ankle-foot orthosis (AAFO). Sensor fusion is implemented using a Kalman filter with the signals of a gyroscope and an accelerometer, both present in an inertial measurement unit (IMU), besides the signals of three force sensitive resistors (FSRs) mounted in a sole of shoe. For...
The paper presents an enhanced dead reckoning system that fuses data coming from odometry and gyroscope for a more reliable position estimate. Taking into account noise and drift properties of both odometry and gyroscope, and employing some rule-based algorithm, the system improves local self-localization by reducing the effect of non-systematic odometric errors caused by unpredictable bumps or uncertainty...
In this paper, a data fusion algorithm based on weighted least square is proposed to determine the attitude of low-rotary agile projectile. Three micro electro-mechanical system (MEMS) accelerometers are used as strapdown inertial measurement units (IMUs), and the unscented Kalman filter is used to directly estimate attitude of projectile by gravity components of measurement values of three accelerometers...
A multi-sensor information fusion based aircraft attitude determination system is investigated. Firstly, A scheme of the aircraft attitude determination system including multiple sensors is designed, in which gyroscope measures the angular velocity, the strap-down accelerometer measures the acceleration, the magnetic heading meter measures the yaw angle, and the GPS measures the velocity. Secondly,...
The local position measurement system LPM is a novel system for fast and accurate measurements of object positions with active transponders. With an accuracy of few centimeters and measurement rates of 1000 measurements per second LPM is by now one of the most advanced systems in this field. For sensor fusion purposes each transponder is equipped with a telemetry channel. In this contribution we discuss...
Inertial-navigation system (INS) and global position system (GPS) technologies have been widely applied in many positioning and navigation applications. INS determines the position and the attitude of a moving vehicle in real time by processing the measurements of three-axis gyroscopes and three-axis accelerometers mounted along three mutually orthogonal directions. GPS, on the other hand, provides...
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