The application of low-cost L1 GPS receivers integrated with micro-electro-mechanical system (MEMS) inertial measurement units (IMU) allows the continuous observation of position, velocity and orientation which opens new possibilities for comparison of athletes’ performance throughout a racecourse. In this paper, we compare loosely and closely coupled integration strategies under realistic raci...

This report presents a novel orientation filter applicable to IMUs consisting of tri-axis gyroscopes and accelerometers, and MARG sensor arrays that also include tri-axis magnetometers. The MARG implementation incorporates magnetic distortion and gyroscope bias drift compensation. The filter uses a quaternion representation, allowing accelerometer and magnetometer data to be used in an analytic...

This paper presents a new approach for high-rate information fusion in modern inertial navigation systems, that have a variety of sensors operating at different frequencies. Optimal information fusion corresponds to calculating the maximum a posteriori estimate over the joint probability distribution function (pdf) of all states, a computationally-expensive process in the general case. Our appr...

Direct georeferencing, also referred to as direct platform orientation (DPO), is defined as direct measurement of the imaging sensor external orientation parameters (EOP), using positioning and orientation sensors, such as the Global Positioning System (GPS) and Inertial Navigation System (INS) or Inertial Measurement Unit (IMU). Imaging sensors, most frequently supported by the DPO technique, ...

A novel, low-cost approach to high-accuracy robot localization for agricultural applications using an image-processing triple-laser-guided (TLG) system coupled with inertial measurement unit (IMU) is presented in this paper. The TLG consists of a laser-pointing (LPU) at the base station and laser-target (LTU) mobile robot. robot’s XYZ position heading are determined from positions angles relati...

A self-contained autonomous dead reckoning (DR) system is desired to complement the Global Navigation Satellite System (GNSS) for land vehicles, which odometer-aided inertial navigation (ODO/INS) a classical solution. In this study, we use wheel-mounted MEMS IMU (Wheel-IMU) substitute odometer, and further, investigate three types of measurement models, including velocity measurement, displacem...