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This paper identifies the basic errors that influence the output data of a Micro-Electro-Mechanical System (MEMS) gyroscope, and determines their effect over the measurements. At the end of the paper a basic pedestrian dead reckoning (PDR) system was implemented based on MEMS technology. This was done in order to highlight the importance of a proper compensation for error sources that affect the measurement...
In order to satisfy the request of real-time response, an improved unscented Kalman filter (UKF) is studied for the projectile's attitude determination in this paper. The inertial measurement unit (IMU) used to determinate the attitude of projectile is composed of only five low-cost micro electro-mechanical system (MEMS) accelerometers. A sensor measurement data fusion scheme is designed including...
This paper concerns the development of a position tracking system for a hand-held tool based on the low cost sensors. The integration of a multi-camera vision system and a strapdown inertial navigation system using indirect Kalman filter (IKF) is able to compute the 3D position of a tool tip, which is the point of interest for tracking, without prior knowledge of the motion. The continuous linear...
The problem of underwater navigation for an individual diver is particularly challenging. GPS navigation is unsuitable for most underwater operations and particularly covert operations use because the GPS RF signal is attenuated below usable levels as it penetrates the water column. Dead reckoning methods, which rely on magnetic compass and approximate distance measurements, are susceptible to magnetic...
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