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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...
The Position and Orientation measurement System (POS) is a dedicated Strapdown Inertial Navigation System (SINS)/Global Positioning System (GPS) integrated system for airborne remote sensing. In-flight alignment (IFA) is an effective way to improve the accuracy and speed of initial alignment for an airborne POS. During IFA, the GPS provides the position and velocity references for the SINS, so the...
Real-time Aerial Monitoring System performs the rapid mapping in an emergency situation so that the geoinformation could be constructed in near real time. In this system, the position/attitude information from GPS/IMU is used to perform the aerial triangulation (AT) without GCPs. The problem here is that the exterior orientation from AT highly depend on the performance of IMU. In this case, we could...
This paper presents a nonlinear sensor fusion algorithm for inertial navigation designed to reconstruct trajectories of a Pipeline Inspection Gauge. Outputs of a strapdown inertial measurement unit are combined with non inertial measurements provided by an incremental odometer and a set of cartographic landmarks. The navigation system is modeled as a nonlinear dynamic system and the extended Kalman...
To get high-precision attitude of missile in “SINS/CNS” integrated guidance system, which has significant affected the attitude control system and accuracy of error separation, for example, the gyro drift, we built “SINS/CNS” measurement amendment program of missile boost phase for remote-range ballistic missile. Extended Kalman filter is applied to determine real-time, high-precision missile attitude...
The estimation of the position of a person in a building is a must for creating Intelligent Spaces. State-of-the-art Local Positioning Systems (LPS) require a complex sensor-network infrastructure to locate with enough accuracy and coverage. Alternatively, Inertial Measuring Units (IMU) can be used to estimate the movement of a person; a methodology that is called Pedestrian Dead-Reckoning (PDR)....
A Gaussian Sum Filter (GSF) with component extended Kalman filters (EKF) is proposed as an approach to localize an autonomous vehicle in an urban environment with limited GPS availability. The GSF uses vehicle relative vision-based measurements of known map features coupled with inertial navigation solutions to accomplish localization in the absence of GPS. The vision-based measurements are shown...
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