Pedestrian navigation especially indoors suffers from the unavailability of useful GNSS signals for positioning. Alternatively, a low-cost Inertial Measurement Unit (IMU) positioning system that does not depend on the GNSS signal can be used for indoor navigation. However its performance is still compromised because of the fastaccumulating heading drift error affecting such a low-cost IMU senso...

GPS-aided MEMS-based inertial navigation systems is a topic of intense interest. In this paper a MEMS-IMU/GPS integrated system based on the PC104 platform is implemented and the time synchronization solution is discussed. Because of the analogue constant voltage outputs of the MEMS-IMU in the process of calibration, a method of testing the accuracy of time synchronization was developed. Some e...

This project work presents the sensor fusion of Global Positioning System (GPS), Inertial Measurement Unit (IMU) and Odometry data from wheel encoders which is used to estimate localization of mobile robot. GPS, IMU, Wheel encoders are interfaced with MBED. Filters are used to remove erroneous noise from the data obtained from sensors. Low pass IIR filter is used for Differential Global Positio...

This paper proposes an integration of ‘building heading’ information with ZUPT in a Kalman filter, using a shoe mounted IMU approach. This is done to reduce heading drift error, which remains a major problem in a standalone shoe mounted pedestrian navigation system. The standalone system used in this paper consists of only single low cost MEMS IMU that contains 3-axis accelerometers and gyros. ...

In this paper measurements from a monocular vision system are fused with inertial/magnetic measurements from an Inertial Measurement Unit (IMU) rigidly connected to the camera. Two Extended Kalman filters (EKFs) were developed to estimate the pose of the IMU/camera sensor moving relative to a rigid scene (ego-motion), based on a set of fiducials. The two filters were identical as for the state ...

One of the most important movements performed by the humans is gait. Biomechanical Gait analysis is usually by optical capture systems. However, such systems are expensive and sensitive to light and obstacles. In order to reduce those costs a system based on Inertial Measurements Units (IMU) is proposed. IMU are a good option to make movement analisys indoor with a low post-processing data, all...

We examine the observability properties of visual-inertial navigation systems, with an emphasis on self-calibration of the six degrees-of-freedom rigid body transform between a camera and an inertial measurement unit (IMU). Our analysis depends on a differential geometric formulation of the calibration problem, and on an algebraic test for the ‘observability rank condition’, originally defined ...

Monitoring the performance is a crucial task for elite sports during both training and competition. Velocity is the key parameter of performance in swimming, but swimming performance evaluation remains immature due to the complexities of measurements in water. The purpose of this study is to use a single inertial measurement unit (IMU) to estimate front crawl velocity. Thirty swimmers, equipped...

System calibration is required in integrated IMU/GPS systems to account for the spatial offset and misalignment between IMU, GPS and camera frames; synchronization is to be maintained, to predict IMU/GPS position and orientation data at the mid-exposure time of the images. To this aim, measurement on the ground, complemented by a calibration flight over a test field, are performed. Depending on...