In the field of Global Navigation Satellite System (GNSS) attitude determination, the constraints usually play a critical role in resolving the unknown ambiguities quickly and correctly. Many constraints such as the baseline length, the geometry of multi-baselines and the horizontal attitude angles have been used extensively to improve the performance of ambiguity resolution. In the GNSS/Inerti...

This paper contains the study about the inertial measurement unit (IMU) sensor. The study is about the types available in markets and also some research on IMU. In this paper also included the uncertainty of some IMU been used and comparison between some IMU manufacturers. Then the combination of IMU with GPS can provide more effective result for navigation, guidance and controlling system for ...

A calibration technique for a redundant inertial measurement unit (IMU) containing low-grade inertial sensors is proposed. In order to calibrate a redundant IMU that can detect and isolate faulty sensors, the fundamental coordinate frames in the IMU are defined and the IMU error is modeled based on the frames. Equations to estimate the error coefficients of the redundant IMU are formulated, and...

This paper proposes an algorithm for visual-inertialcamera pose tracking, using adaptive recursive particle filtering.The method benefits from the agility of inertial-based androbustness of vision-based tracking. A proposal distribution hasbeen developed for the selection of the particles, which takes intoaccount the characteristics of the Inertial Measurement Unit(IMU) ...

This paper presents a method for computing position and attitude of an instrument attached to the human body such as a handheld or head-mounted video camera. The system uses two Inertial Measurement Units (IMUs). One IMU is part of our earlier-developed Personal Dead-Reckoning (PDR) system, which tracks the position and heading of a walking person relative to a known starting position. The othe...

Accurate vision-aided inertial navigation depends on proper calibration of the relative pose of the camera and the inertial measurement unit (IMU). Calibration errors introduce bias in the overall motion estimate, degrading navigation performance sometimes dramatically. However, existing camera-IMU calibration techniques are difficult, time-consuming and often require additional complex apparat...

This research describes a Hardware in the Loop Simulator (HILS) that was developed to enhance the quality of attitude data received from autopilots. The described system aided in adjusting the contribution of individual IMU sensors and thereby improved the accuracy of IMU data. The HILS system outlined in this research is a gimbaled platform equipped with four stepper motors and two optical sha...

Although GNSS/IMU integration has been studied for decades, an efficient estimator of their integration has remained a challenge. In the statistical approaches, the observation model of sensors and distribution of data must be known beforehand. This paper proposes a deep learning based approach to integrate GPS and reduced IMU information. In contrast to statistical approaches, our approach lea...