An inertial measurement system is described in this study. In the first part of the paper history and gait cycle terminology are described and a relevant research is made. The system is used for an analysis of human gait and determination of its major parameters. Several inertial measurement units (IMUs) are attached to subject’s feet. The program is used to analyze original signals from the IM...

Precise real-time information about the position and orientation of robotic platforms as well as locally consistent point-clouds are essential for control, navigation, and obstacle avoidance. For years, GPS has been the central source of navigational information in airborne applications, yet as we aim for robotic operations close to the terrain and urban environments, alternatives to GPS need t...

Maintaining the accuracy of an Instrument Landing System (ILS) is very important because it is the primary landing guidance system during bad weather in the U.S. Therefore, the FAA periodically checks the accuracy of an ILS and calibrates any deviation, a procedure called Flight Inspection (FI). In order to check the accuracy of an ILS, the FAA uses an Inertial-based Automated Flight Inspection...

In both military and civilian applications, the inertial navigation system (INS) and the global positioning system (GPS) are two complementary technologies that can be integrated to provide reliable positioning and navigation information for land vehicles. The accuracy enhancement of INS sensors and the integration of INS with GPS are the subjects of widespread research. Wavelet de-noising of I...

The present study investigates the inertial sensor kinematics obtained at a critical toe-control event, Minimum Toe Clearance (MTC), to classify different age groups. Fourteen young and fourteen older adults performed treadmill walking at their preferred walking speed, wearing a shoe-mount inertial sensor unit measuring tri-axial acceleration and triaxial angular velocities. Three dimensional (...

This paper presents three non-linear asymptotic observers corresponding to three examples of engineering interest: a chemical reactor, a non-holonomic car, and an inertial navigation system. For each example, the design is based on physical symmetries. This motivates the theoretical development of invariant observers, i.e, symmetrypreserving observers. We consider an observer to consist in a co...

We present numerical simulations of a flow in a rapidly rotating cylinder subjected to a time-periodic forcing via axial oscillations of the sidewall. When the axial oscillation frequency is less than twice the rotation frequency, inertial waves in the form of shear layers are present. For very fast rotations, these waves approach the form of the characteristics predicted from the linearized in...

Inertial sensors attached to a camera can provide valuable data about camera pose and movement. In biological vision systems, inertial cues provided by the vestibular system, are fused with vision at an early processing stage. Vision systems in autonomous vehicles can also benefit by taking inertial cues into account. In order to use off-the-shelf inertial sensors attached to a camera, appropri...

This paper presents the development of GPS based navigation system for portable devices at Tampere University of Technology. The objective was to develop a fully integrated system using MEMS inertial sensors with price range of US$ 10-15 for the set of inertial sensors combined with low-update rate GPS measurements. This system doesn’t require vehicle installation and can be easily transferred ...