In this paper we present a quaternion-based Extended Kalman Filter (EKF) for estimating the three-dimensional orientation of a rigid body. The EKF exploits the measurements from an Inertial Measurement Unit (IMU) that is integrated with a tri-axial magnetic sensor. Magnetic disturbances and gyro bias errors are modeled and compensated by including them in the filter state vector. We employ the ...

Sports climbing has grown as a competitive sport over the last decades. This leading to an increasing interest in guaranteeing safety of climber. In particular, operational errors, caused by belayer, are one major issues severe injuries. The objective this study is analyze and predict severity pendulum fall based on movement information from belayer alone. Therefore, impact force served referen...

Resumo— Este trabalho apresenta um modelamento genérico para IMU (Inertial Measurement Unity). Através de ajustes de parâmetros de desempenho de sensor tais como bias, ruı́do e resposta em frequência além de outros, o modelamento oferece capacidade para simular desempenho de sensor desejado. possibilitando testar requisitos de sensor e desempenho. O modelo é comparado com uma simualação de senso...

For operational use, the photo orientations of a block with more than 1000 images have been determined with an LCR88 inertial measurement unit (IMU) and GPS. The relation of the IMU to the camera and corrections for the GPS-data of the projection centers have been determined and improved by means of a small reference block with 5 – 8 photos. For checking purposes the photo coordinates of 252 ph...

We present an unsupervised deep neural network approach to the fusion of RGB-D imagery with inertial measurements for absolute trajectory estimation. Our network, dubbed the Visual-Inertial-Odometry Learner (VIOLearner), learns to perform visual-inertial odometry (VIO) without inertial measurement unit (IMU) intrinsic parameters (corresponding to gyroscope and accelerometer bias or white noise)...

The initial alignment is vital to the strapdown inertial navigation system (SINS). In this work, an efficient initial alignment method for SINS based on a six-degree of freedom inertial measurements unit (IMU) is proposed. The three dimensional linear accelerations and angular rates are acquired from a data acquisition board which contains a low-cost IMU. Preprocess the gyro data and modeling t...

Recently another MITE-like structure, called the integron mobilization unit (IMU), has been described flanking a defective class 1 integron harbouring a carbapenem resistance gene, blaGES-5, in a clinical Enterobacter cloacae strain. Although the IMU sequence is not related to the MITE reported in our study, IMU-based mobilization of the integron could be demonstrated using a transposase provid...

The aim of this article is to develop a GPS/IMU Multisensor fusion algorithm, taking context into consideration. Contextual variables are introduced to define fuzzy validity domains of each sensor. The algorithm increases the reliability of the position information. A simulation of this algorithm is then made by fusing GPS and IMU data coming from real tests on a land vehicle. Bad data delivere...

a consistency criteria is given for a certain class of finite positive measures on the surfaces of the finite dimensional unit balls in a real separable hilbert space. it is proved, through a kolmogorov type existence theorem, that the class induces a unique positive measure on the surface of the unit ball in the hilbert space. as an application, this will naturally accomplish the work of kante...